| As a new generation of production tools,the state has invested a large amount of human,material and financial resources for the research and development of robots.Among them,the handling robot is an automation product that can move independently and carry out the handling work,and be a role in the whole industrial production process.Therefore,the quality of the handling work will inevitably affect the follow-up work.This topic is part of the intelligent logistics handling electric truck project,based on the series structure for in-depth research,and do some research in kinematics,dynamics,hydraulic servo.In this paper,the topological structure and mechanism of robots are deeply studied.The structure of the tandem handling robot arm is derived through the synthesis of the linkage mechanism and the topology of the robot,and the structure is improved.Using Adams to optimize the scale of the structure,through Solidworks modeling and dynamic simulation,the force situation and other aspects were studied,and the parameters such as the cylinder were calculated according to the simulation data,and finally a set of series suitable for high-altitude handling operations was obtained.Robotic arm.For the establishment of the motion control system,the forward and reverse kinematics analysis of the series manipulators is carried out to obtain the mapping relationship between the joint space and the operation space,which can realize the real-time monitoring of the end position and the inverse solution of the joint displacement.At the same time,according to the research of kinematics,the inverse kinematics solution is solved for the low-redundancy structure,and the displacement correspondence function of the joint space is obtained.According to the edge function of the working space of the series manipulator,Matlab is used to simulate the workspace and intuitively reflect the superiority of its working space.Research on hydraulic control systems.Establishe the mathematical model of the valve control cylinder hydraulic system,and the transfer function of the open and closed loop control system based on PID control is derived.The control system is simulated by Matlab\Simulink,the parameters are set,the Bode diagram of the control system is obtained,and judge the stability of the control system.The control stability and signal tracking performance of PID control system and sliding mode variable structure control system are studied,and their respective advantages,disadvantages and solutions are studied.Finally,establish the AMESim model of the control system,carry out the hydraulic system simulation,and the targeted hardware selection and configuration are done according to the research.The experimental platform is built,the simple and easy-to-use operation interface is designed,and the actual control experiment is carried out.The analysis of the data,the actual verification of the applicability of the structure and control system,the task completion is better. |
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