Research On Leveling Control System Of Multi-degree Of Freedom Robot Handling Platform

Transfer Robot is a kind of robot which can carry out automatic handling of goods by manual control or according to the user specified action for automatic control.The end effector of the handling Transfer Robot is grasping(pneumatic or hydraulic)and disk drive,driven by pneumatic or hydraulic.But when faced with fragile or not conducive to mechanical hand or pneumatic suction,there is an urgent need for a new type of industrial robot.In this paper,a kind of multi-degree of freedom robot is proposed,which uses the handling platform as the end effector to realize the cargo handling.To ensure that the level of handling equipment during the handling of the platform is the core of the entire control system.In the following text,the multi-degree of freedom robot handling platform is called handling platform for short.Firstly,this paper analyzes the basic control requirements and major working methods of the automatic leveling control system of the handling platform.The scheme of the system is designed form the aspects of drive selection,main controller and the method of platform leveling.Based on the existing control methods,three control methods are proposed and analyzed from the actual control system such as the angle active control method,the angle servo control method and the angle active-servo complex control method.Secondly,according to the reality of the leveling control system,the mathematical model of the leveling control system is established in this paper.Through the simulation analysis of PID and fuzzy PID control strategy of MATLAB/Simulink,the fuzzy PID control strategy with better robustness and stability is selected to control the platform leveling control system.This paper introduces the hardware composition of the transport platform and analyzes the working principle and software development environment of S7-200 PLC,and completes the realization of fuzzy PID control algorithm on PLC.Finally,with two different experimental schemes are designed,the experimental platform of the multi-degree of freedom robot handling platform is built.Through the field commissioning and collection of experimental data for analysis,it is found that the leveling system of the handling platform achieves the expected control requirements.Finally it proves the rationality and feasibility of the leveling control method and the control strategy of the robot handling platform.