The Research And Development Of Four-axis Loading And Unloading Manipulator For Stamping

"Intelligent Manufacturing" is current main direction of our country industry.With the rapid development of science and technology,the demand for productivity is increasing day by day,more and more new technologies are fully utilized.It is vital for stamping process to improve work efficiency,which can be considered as an important part of industrial production.Traditional stamping plant relies on workers to complete the loading and unloading operations manually,which endangers the safety of workers and affects the production beats,it is also not conducive for unified management and control,and may weaken the market competitiveness of enterprises.Through the market research,combined with the actual situation of production and work environment,this article puts forward a stamping manipulator solution,which can be used for loading and unloading sheet metal parts of notebook shell,applying industrial robot to the production of stamping.The manipulator can realize the loading and unloading operations of the workpieces automatically,improving product quality and yield,promoting the degree of factory automation.According to the design requirements,the technical parameters of manipulator are firstly determined.Through the discussion of the robot coordinate structure and driving scheme,the structural design of manipulator is determined.Using software CATIA to construct the three-dimensional model,considering the influence of components on the whole manipulator,checking and calculating the key components selected or designed by manipulator.The partial three-dimensional models are imported into the finite element software to analyze the static and dynamic characteristics of the manipulator,including static analysis and modal analysis,in order to determine the deformation and natural frequencies.Setting up robot servo control system.Industrial touch screen is chose to be human-computer interaction interface,providing the functions of signal triggering and monitoring.PLC is used to be logic controller,servo motor driver plays a role in controlled unit.Completing the hardware wirings and communication connections of control system.The controller can be programmed,collecting external signals and feedback signals for logic calculation,and the servo drive can receive pulses and control motor rotation.The operation interface of the touch screen is developed,for the purpose of displaying the operation status of control system.The DH model is used to establish the mathematical model and analyze the posture changes of manipulator.According to the principle of matrix coordinate transformation,the translation and rotation of the coordinate system are completed to analyze and solve the kinematic positive solution and kinematic inverse solution of the manipulator.The Jacobian matrix is derived to study the relationships between the robot end speed and each joint speed.Using software MATLAB to describe the distribution of the robot's workspace,robotics kinematics trajectory planning and simulation are completed by Robotics toolbox.The reasons of manipulator geometric error are analyzed.Introducing the MDH representation.Based on the small change of joint parameters,the kinematics differential equation and the error modeling based on distance are derived.Completing the measurement of end posture by laser tracker.Choosing still repeat positioning accuracy and absolute positioning accuracy to be measurement indexes.Achieving the kinematic calibration of manipulator,and the compensations are made for the measured coordinates.The accuracy after calibration is significantly improved than before,indicating error analysis modeling is reliable.