Design Of The Glass Handing Robot And Control System

As the progress of social and the development of science and technology, the modern industry is changing the traditional way of manual operation, but to seek industrial robots to achieve manufacturing automation. However, the application of industrial robots in industry is also faced with many difficulties, for different industrial robots needed to make corresponding changes to adapt to the industry environment. This topic designs a glass handing robot controlled by servo control system for glass production line. The robot belongs to a kind of Cartesian coordinate robot which has characteristics of low cost, high precision and good feedback to the system. It instead of the labor, meets the environmental requirements of the scene and realizes the automatic handing of the glass production line. The main research contents of this paper include the following aspects.Firstly, the paper established a 3D model for the robot and the production line used by UG on the basis of the scene and the problems existed. The 3D model clearly reflects the general situation of the scene. The paper design two handing plans for the requirements of the scene and the problems needed to be solved. Though every plan has its own advantage, choose the second one as the final scheme after analyze each other.Secondly, this study describes a trajectory planning method based on execution time, acceleration and jerk to ensure that a glass-handing robot runs smoothly at execution time. The minimised objective function consists of the weighted sum of the square of the integral of the execution time, the integral of the acceleration and the integral of the jerk, all of which are obtained through the weighted coefficient method. Fifth-order B-splines are used to interpolate its path points. The acceleration and jerk are expressed as functions of time through mathematical simulation. Simulation results show that the designed method for robot trajectory planning not only improves the working efficiency of the glass-handing robot but also ensures that it runs smoothly.Thirdly, for optimize the structures of the robot and find the parts which subject to the great impact of vibration, the study proposes a kind of finite element analysis method that separate each part of the robot to analyse. According to the working mode of the robot and the ability to resist vibration is different, the study make different kinetic analysis to the support frame and the module. The analysis results reflect the weak position of the robot impacted by vibration. The study also provides a way of analyse the vibration of a robot.Finally, according to the above analysis, the robot servo control system is built. The software and hardware system are also designed and completed the control program. The reliability and stability of the flexible control system of glass handing robot are verified by experiment.