Research On Structure Optimization And Control Of Movable Casting Handling Robot

With the rapid improvement of the modernization level of the machinery manufacturing industry,especially the equipment manufacturing industry,the problems of labor intensity,poor environment and low production efficiency of workers in foundry production can be effectively solved.Aiming at the problems in current casting production,a movable casting handling robot is designed.By replacing the end effector,the functions of coring,core,core and casting in casting production can be realized,which can effectively replace manual operation.Improve work efficiency and product quality.According to the working environment and operation requirements of the casting production,the structure and working functions of the movable casting handling robot are analyzed,and the design of the parallel working arm and the end effector in the robot is completed,and the rationality of the structural design is analyzed.Using ANSYS simulation software,static simulation of the parallel working arm of the movable casting handling robot and the reversible multi-finger asynchronous gripper were carried out to verify the rationality of the design.Through simulation,it is found that the structural design of the reversible multi-finger asynchronous gripper is unreasonable.The optimal design of the gripper structure is carried out,and the rationality of the gripper structure design is verified through fatigue analysis.For the parallel working arm,the degree of freedom,positional forward and reverse solution and working space of the parallel working arm are analyzed and calculated.The working space of the parallel working arm is simulated by MATLAB,which provides a theoretical basis for the design of the robot control system software.In order to verify the rationality of the structural design of the movable casting handling robot,a prototype of heavy-duty casting robot and a semi-physical simulation experiment platform were developed to realize the software and hardware control of the prototype,and communication was carried out by using Industrial Ethernet to make the control system more open.Based on the Windows 7 development platform,the LabVIEW software was used as a development tool to design the control system software of the protot ype.The software adopts a modular design method and divides the control system software into three modules.According to the requirements of casting handlin g,etc.,design a reasonable artificial interaction interface,improve the friendliness of interface design,and realize the functions of teaching,position monitoring,vi sual recognition,calibration,etc.,and accurately complete the tasks of casting an d handling.Figure [76] table [5] reference [73]...