Research On Motion Control And Simulation Of Wearing Shoelaces Manipulator

Industrial robots have been widely used in various fields in the national economy,when lasts just for a few decades from it appearaed, and the industrial robots have become an indispensable good helper of modern industrial production. It has important significance to improve working conditions, improve product quality and labor productivity, drive the development of related disciplines and technology innovation ability, promote the change of industrial structure adjustment, the mode of development and industrial transformation and upgrading with promoting the application and development of industrial robots. Aiming at tedious work and low production efficiency in process of wearing shoelaces in the shoe production, a new 4-dof industrial manipulator is designed. The structure of wearing shoelaces manipulator is designed and optimized firstly, then research of wearing shoelaces manipulator is analyzed about its kinematics, dynamics and control simulation and so on.First,the structure and working methods of wearing shoelaces manipulator has been introduced according to the industrial production process requirements of wearing shoelaces;The working precision of manipulator has been explored based on the theory of static stiffness;The model of wearing shoelaces manipulator has been built which is based on Solid Works software in this article. The unreasonable mechanism of wearing shoelaces manipulator has been found which is needed to be optimized when imported into ANSYS software to be analyzed. The results of simulation has showed that the optimized manipulator deformation of static stiffness is decreased,the weight is reduced,the work precision is improved,the movement is more flexible,and the overall mechanical properties of wearing shoelaces manipulator are improved significantly. The static performance of improved manipulator is more superior, which lays the foundation for follow-up study of its performance.Second,Kinematics model of manipulator has been established by D-H coordination system,then kinematics and inverse kinematics of the manipulator has been calculated and analysed. And kinetic characteristic of the manipulator has been analyzed through simulation of MATLAB software. The results have showed that,the manipulator has a good ability of motion stable and kinetic characteristic,It has proved that structure parameters are rational,which provided an important reference for the follow-up design of manipulator,such as controlling system and trajectory planning.Third,the dynamic characteristics of wearing shoelaces manipulator has been analyzed and introduced. And change of the force and moment of each driving joint of new wearing shoes manipulator is researched,which is based on Adams software under variable load working condition. The disturbance for driving mechanism of manipulator traction shoelaces has been analyzed in the process of its flipping,which is compared with the state of no-load running. And optimization design has been carried out on the prismatic pair. Important basis is provided for subsequent drive motor selection,selection for material and vibration analysis based on above analysis results,which is also helpful to improve the motion control of manipulator and dynamic characteristics.Last,Co-simulation of the manipulator has been performed based on ADAMS and MATLAB as taking advantage of two softwares. Two kinds of layout of PD controller are built to control the dynamic model,and results are well verificated and tested; The tracking response curves have been optimized as the controlling parameters are adjusted. The co-simulation results indicate that the manipulator system has a preferable dynamic response characteristics and better ability of tracking.