Hardware Design And Driver Development Of Industrial Robot Teaching Pendant Based On I.MX6

Teaching pendant is an important part of industrial robot and it has a variety of features such as online programming,testing and file management.Higher requirements have been put forward with the rapid development of industrial robots.To solve the problems existing in common industrial robots,such as high specificity,poor extensibility and high cost,a general teaching pendant with high-performance is designed based on I.MX6 and Android4.4.The specific contents are as follows:The demands arisen from the industrial robot to the teaching pendant are analyzed.The requirements of high stability,easiness of development for control software,high-speed and stable communication and lower cost in teaching pendant are discussed.The basic framework of the hardware is set up according to basic needs.After analyzing the advantages and disadvantages of different embedded operating systems,a proposal is offered based on I.MX6 and android.Cost-effective robot teaching pendant hardware platform with high-speed and stable communication in detail,by making full use of abundant peripheral resources and taking advantage of excellent performance with low power consumption in I.MX6.Under the requirements meeting the signal reliability,the PCB(Printed Circuit Board)layout and alignment are completed.After research on the basic framework and principles of android,system tailoring and the transplant of the key drivers are completed.A scheme is proposed to reduce the system start-up time.A test platform is built.The key function modules,such as LCD(Liquid Crystal Display),touch screen,usb,ethernet and keypad,are tested.Results show that hardware and software work properly.Communication between pendant and robot controller is smooth and the Android system boot time reduces by 31.2%.