Design And Research Of Force Control Flange For Sanitary Ceramic Grinding Robot

In recent years,with the spread of industrial automation and increased labor costs,the rapid development of robotics,more and more robots instead of manual labor production.The dry embryo grinding operation in the sanitary ceramics industry is characterized by high dust concentration,high noise and poor working environment,will have a serious impact on the health of workers.Robots have the characteristics of force and position control coupling,making the contact force control between the robot and the environment has always been a difficult point.Therefore,this paper studies the control of robot grinding contact force in the ceramic grinding industry.Designed a passive and flexible control method based on the industrial robot as the carrier force flange to apply to the sanitary ceramic polishing industry.It decouples the force and position control of the robot,separately control of the output contact force of the robot without considering its motion control,reduced the difficulty of research.According to the needs of the topic,designing sanitary ceramic grinding robot systems and workflows.Then carry out the design of the force control flange,analyze its performance requirements and working principle.Design the mechanical structure of the force control flange according to the above work requirements,force control flange adopts pneumatic control,thus designing its pneumatic piping,completed the body design of the force control flange.Mathematical modeling analysis of the designed force-controlled flange body,analysis of its main device proportional pressure regulator and low friction cylinder.According to the flow characteristics of the proportional pressure regulating valve and the flow characteristics of the low friction cylinder,the dynamics of the entire device,perform a comprehensive analysis to obtain a mathematical model of the force-controlled flange system.Then perform a system stability analysis on the mathematical model,by analyzing its phase margin and amplitude margin,this proves the stability of the system.Research on output contact force control method based on designed force-controlled flange.Because the system is a nonlinear system,designing fuzzy controller based on fuzzy control theory.At the same time,designing fuzzy PID serial controller with PID control.By using the fuzzy inference system editor in MATLAB,completed the design of force-controlled flange fuzzy PID controller.The fuzzy PID controller has stronger performance through Simulink simulation.Setting up an experimental platform for a sanitary ceramic grinding robot system,design the hardware platform of the sanitary ceramic grinding robot and the hardware and software platform for designing the force control flange,built a Labview-based PC software controller.Compile the run track using RoboArt offline programming software,get the robot to polish the running code.Based on the experimental platform,carry out experimental research on force contact flange output contact force,sinusoidal signal tracking response experiment and step signal response experiment using fuzzy control and fuzzy PID control.Analyzed the experimental results,force control flange with fuzzy PID control can achieve better performance.Finally,carry out a constant force grinding experiment,force control flange can better control the smooth contact force of the output.Overall verification of the feasibility of the force-controlled flange design,it basically meets the demand for contact force control of sanitary ceramic grinding.