Research On Design And Motion Control Of 5-DOF Robot For Bending

With the rapid development of manufacturing industry,in the sheet metal manufacturing process,the traditional manual bending machine for bending operation cost gradually higher,less security,low efficiency and other shortcomings,has not met the development needs of modern enterprises.In modern enterprises,the demand for bending operation of robot with bending machine is increasing gradually."Made in China 2025" the planning of the intelligent robot as one of the key development areas,as a smart manufacturing and automation production line irreplaceable equipment,the robot has become a measure of national manufacturing and scientific and technological level of an important symbol.In this paper,a five-degree-of-freedom rectangular bending robot with low cost,convenient maintenance and good stability is designed,including mechanism modeling,optimization design,kinematics analysis and motion control method.Specifically as follows: Firstly,a lot of investigation and analysis are carried out on the bending operation of the robot with bending machine,and the relative parameters of the five-DOF rectangular bending robot are determined.Based on the correlative parameter design of five-degree-of-freedom rectangular bending robot,the three-dimensional model of the robot is established by using SolidWorks software.Secondly,according to the mechanical structure of the robot,the statics of each joint is analyzed by using Ansys Workbench software.According to the results of stress and strain analysis,it is shown that the design of each part of the robot meets the demand of industrial application and proves the rationality of the design of this mechanism.At the same time,the servo motor of each joint of the proposed robot is chosen.Then the kinematics of the robot is analyzed,the kinematics model is established by the D-h method,the kinematic positive and inverse solutions of the five-DOF rectangular bending robot are solved,the working space and the trajectory planning problem of the five-degree-of-freedom rectangular bending robot are analyzed,and the robot dynamics model is established.Through MATLAB software analysis and comparison of PID control,fuzzy PID control and sliding mode robust control position servo control algorithm,select the better effect control algorithm to ensure that the five-DOF rectangular bending robot motion trajectory error to a minimum.Thirdly,the motion track function of each joint is analyzed in MATLAB,and the kinematic performance of five-degree-of-freedom rectangular bending robot is analyzed with the software of Adams,thus guaranteeing the accuracy and stability of the five-degree-of-freedom rectangular bending robot.Finally,the design of the hardware experiment platform and the Software experiment platform of the robot control system is designed,and the work is summarized and prospected.