Research On The Design And Control System Of The Mechanical ARM For Grinding Materials

In many modern industries,with the continuous improvement of production automation,manipulator appears more and more in industrial production,the side can greatly improve the production efficiency,on the other side can reduce the labor intensity of people.The handling manipulator is a device that simulates the automatic grasping of materials and moving materials under the control of the program.The comprehensive promotion and use of automated assembly line is conducive to improving the working conditions of workers and greatly improving production efficiency and quality.Therefore,this paper designs a seven-degree-of-freedom manipulator,whose main research contents are as follows:Firstly,the overall design index of the grinding arm is given according to the grinding machine parameters.Then,the design of the joint of the grinding mechanical arm includes the overall structure design of the joint,the equipment selection,and the connecting rod design.The mechanical arm adopts modular design in structural design,and the joints are independent and have similar structure.Using Solidworks to complete the integrated design of the grinding machine arm and complete the solid assembly.Secondly,after determining the configuration and solution of the grinding arm,the kinematics can be solved.Based on the d-h parameter modeling method,the forward kinematics model of the manipulator was deduced.The inverse kinematics method is used to solve the joint Angle of the target position.Through monte carlo method,it can analyze and determine the working space of the manipulator.In this paper,the trajectory planning algorithm of the grinding mechanical arm is designed,and the method of interpolating motion is implemented in cartesian space,and the mechanical arm movement path is verified by using the upper computer console.Thirdly,the design of the grinding arm control system is carried out.The CANopen protocol is used to carry out distributed control mechanical arm motors,and the multi-axis real-time control of the manipulator can be realized by using the upper computer to send control instructions.Based on PC,the interface of interface of upper computer is developed to control the interface entrance of the manipulator.Then three closed-loop control methods are designed for the servo control of motor position,and the data analysis shows that it has good control effect.Finally,Based on Ros,the grinding machine arm simulation platform is built.And control the grinding manipulator to realize the movement instruction planning of waterdelivery.The single joint control performance was verified,and a test and point-to-point test were performed on one of the joints.The basic properties of the joint test contains the speed of the joint and the joint position error testing,point to point test by a given initial position and target position,the specified motor,acceleration,velocity,acceleration of the joints are made within the prescribed time point-to-point motion process.