Research On Several Key Technologies Of Robot Servo Drive System

With the increasing application of industrial robots,their analysis and research are also being carried out in all aspects.It mainly focuses on deceleration mechanism,sensor,robot controller,servo drive system and so on.The main task of this paper is to study several keys technologies of robot servo drive system.First of all,the first key technology of the research is to select the appropriate type of motor and reducer according to the characteristics of the running track of the industrial robot.The calculation and selection of the specific type of servo motor and reducer and the reasonable matching between them are studied in the practical application.Second key technologies are used to transport the joints of the robot.The speed and position signal measurement of the line are focused on.The signal processing circuit of speed and position is designed in detail.The measurement of speed and position signal in the process of robot joint movement is completed,and the control method of zero point homing is proposed to solve the cumulative error problem in the measurement.The third key technologies are mainly aimed at servo.The three control schemes of torque,speed and position of the drive system are studied.The characteristics and applications of different control modes are summarized,the selection of position control scheme is determined.The position control of double loop position is superior to the single loop position control method.Secondly,the hardware circuit of servo drive system based on DSP is designed,and the pulse input channel and pulse output channel are designed in detail.In software aspect,not only the main program block diagram is designed,but also the initial position of the rotor is completed,and the realization of the digital PID control algorithm is completed.Finally,based on the study of several keys technologies of the servo drive system,the parameter setting and debugging of the servo motor are completed to realize the positive and reverse operation of the servo motor,and the software development environment and related functions are introduced in detail,and the debugging of the software is completed.A robot positioning and punching experimental platform based on servo drive system is built to complete the experiment.