Research And Development Of Automatic Polishing And Polishing Industrial Robot System

The automatic polishing robot is a kind of industrial robot used in grinding and polishing.Instead of traditional manual grinding,grinding robot grinding has higher efficiency and precision,and can make workers out of high dust,noise production environment,conducive to maintaining the physical and mental health of workers.The research and development of the automatic grinding and polishing robot system includes the design of the overall structure layout,the mechanical hand with complex functions,the upper and lower material system,the automatic replacement of the grinding gauze and the testing system and the testing system.Through the three-dimensional modeling of Pro/E,the system is assembled according to the reasonable layout,and the motion trajectory of the robot is established.The theoretical analysis and simulation results of the kinematics,dynamics and trajectory planning of the grinding robot are used to extract the design parameters,which can be used as a reference for the design of the driving system and controller of the grinding robot.The automatic production line is realized,which is the automatic feeding of the workpiece,the grasping of the workpiece,the automatic replacement of the grinding gauze,the grinding of the surface and the side of the workpiece.The main contents are as follows:First,the coordinate system of the joint and the terminal grinding mechanism of the industrial robot is set up,and the position,attitude and coordinate transformation of the robot are described.The mathematical model of the industrial robot is established by the kinematic analysis and dynamic analysis of the industrial robot,and the solution of the transport equation of the industrial robot is solved to study the trajectory of the robot.Planning lays the foundation of theory.Then,it is a study of adaptive synovium variable structure control algorithm for grinding and polishing industrial robot.The basic principle of synovial control is analyzed and the problem of chattering is easy to appear in the control of synovial membrane.Aiming at the chattering problem of the system,the exponential reaching law is optimized and improved.A self-adaptive sliding mode variable structure control law is derived based on the dynamic equation of industrial robot.The adaptability of fuzzy control algorithm meets the requirements of today's intelligent development.The more complex systems,the better the fuzzy control theory is.The best advantage of fuzzy control is that it contains a wide range of control,especially when the controlled object is a complex mathematicalmodeling,other control methods can not solve the problem of fuzzy control can be based on the previous experience of the expert to achieve control requirements.In this paper,an adaptive fuzzy synovium variable structure control algorithm is designed for the automatic grinding and polishing industrial robot control system,which combines fuzzy control with the sliding membrane variable structure control.The Matlab/Simulink module is used to simulate the fuzzy control system.The simulation results show that the proposed algorithm reduces the tracking error of the system compared with the traditional algorithm,effectively restraining the chattering phenomenon in the control,shortening the time limitation and improving the robustness of the system.Finally,combining with the processing technology of metal parts,a reasonable equipment layout is designed,and the automatic grinding and polishing industrial robot grinding system is designed,including the Pro/E modeling of the industrial robot body,the grinding mechanism,the grinding platform and the upper and lower material system.The design of the automatic grinding and polishing industrial robot grinding system control was designed,the Ethernet communication between PLC and control cabinet was established,and the full automatic polishing and polishing of the workpiece was realized.