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Development Of Robotic Wiping System For Pizeoelectric Components

Posted on:2021-04-08Degree:MasterType:Thesis
Country:ChinaCandidate:L L ChuFull Text:PDF
GTID:2392330620976864Subject:Precision instruments and machinery
Abstract/Summary:PDF Full Text Request
With the development of industry,it is very common for robots to be used in contact operations such as polishing and grinding.The traditional manual polishing is not only time-consuming and labor-intensive,but also the consistency of the polished and polished products cannot be guaranteed.The use of robots in polishing and polishing operations not only improves labor productivity or reduces work costs,but also has a very important significance for reducing the labor intensity of workers.The use of robots ensuring the personal safety of workers.In this paper,a piezoelectric component wiping system based on the Universal Robot 3(UR3)collaborative robot was developed for the removal of silver paste contaminants on the surface of piezoelectric ceramic plates used in frequency stabilization components,as well as the adsorption and fixation of piezoelectric ceramic plates and solder rings.In the robot wiping operation,the robot's trajectory planning and wiping force feedback and control are the keys to the wiping quality.The adsorption of the piezoelectric ceramic sheet and the solder ring has a great impact on ensuring the smooth completion of the wiping operation,so the following research work is carried out:First of all,according to the structure and characteristics of the parts,the key problems to be solved in the automatic wiping system are analyzed,and the main workflow of the piezoelectric component robot wiping system is formulated.The developed robotic automatic wiping system is divided into three modules,namely the robot module,the wiping head module with integrated force sensor,the piezoelectric ceramic sheet and the solder ring fixing table module,and the type selection and structural design of each part.Establish the kinematics model of the UR3 robot based on the D-H parameter method,and solve the kinematics forward and inverse problems of the robot;use the robot toolbox in MATLAB software to establish the three-dimensional space model of the UR3 robot,using five the polynomial interpolation method is used to plan and simulate the trajectory of the robot.The simulation results are compared with the results of the D-H method to verify the correctness and rationality of the robot space modeling.The control software of the wiping system is written.The software part is mainly composed of robot control,force sensor data collection and robot wiping force feedback control.The robot control part mainly realizes the communication between the robot and the host computer and the trajectory movement of the robot;the force sensor data collection transmits the down pressure information of the wiping head collected by the force sensor to the host computer through the control software;The closed-loop feedback function of the contact force between the wiping head and the piezoelectric ceramic sheet,to prevent the excessive wiping force from damaging the partsFinally,a robotic wiping system for piezoelectric components was built,and experiments on solder ring adsorption and robotic wiping of piezoelectric ceramics were carried out.The solder ring adsorption experiment shows that the adsorption connection of the long adsorption hole and the square adsorption hole can achieve reliable adsorption of the solder ring.It is known that during the wiping process,the solder ring can not only achieve reliable adsorption,but also will not move during the wiping process.In the experiment of the robot wiping the piezoelectric ceramic sheet,controlling the wiping force to 1N-5N can achieve the removal of contaminants on the surface of the piezoelectric ceramic sheet without damaging the piezoelectric ceramic sheet and the silver paste.
Keywords/Search Tags:Piezoelectric ceramic sheet, Solder ring, The UR3 robot, Wiping system, Force control, Adsorption
PDF Full Text Request
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