The Research On Design,Modeling And Control Method Of Sleeve Assembly Robot For Printing Machine

To solve the installing problems of printing machine bearing sleeve,such as heavy weight of the bearing sleeve,high accuracy of installing,low efficiency of manual installation,personnel injury of workers in the process of installing,a bearing sleeve assembly robot in printing machine is designed based on the 6-DOF.The press sleeve in the printing machine can be automatic assembly installed though coarse system and precise system of probe-into tool for measuring.It mainly elaborates the main part of the robot,including 6-DOF,probe-into tooling and the console.Through modeling of the6-DOF and probe-into measuring tooling,the relationship between the target position of the platform and the readings of the probe-into measuring tooling is determined,and the relationship between the readings of probe-into tooling and the length of the rod is determined by inverse kinematics.Because of the main error in the system of the robot being due to the installation error of the probe-into measuring tooling,a method in calibrating is carried out and the calibrating angle of every position sensor to make sure the exact readings.In the Windows platform,based on the kinematic inverse solution algorithm,a framework of using “IPC + touch screen + Trio PCI 2008” for developing software is proposed for controlling the robot motion to achieve the accuracy installing in printing machine bearing sleeve.In order to verify the correctness of the inverse solution algorithm,a simulation experiment is designed.The experimental results show that the algorithm can accurately find the central axis of the wall through hole,and finally achieve the function of automatic alignment of the center shaft of the through hole of the wall,so that the intelligent assembly can be completed.