Research On Dynamic Analysis And Key Technology Of Position Control For The Heavy-load Handing Robot

During the process of economic and industrial transformation and upgrading as well as the technology maturity and lowering costs,industrial robots which liberate the productive forces massively and promotes the enterprise comprehensive strength has been used in actual production widely.In the textile industry,structural shortage of labor shortages problem has become increasingly serious due to the labor conditions,cost restriction and the acceleration of the aging population.Therefore,it is imperative to develop the machine which can be applied to the cotton barrel transportation and replacement in textile industry.According to the actual conditions in textile workshops,this paper has designed a compound robot composed of the heavy-load handing robot and AGV,and mostly analyzed the heavy-load handing robot.Meanwhile,it has summarized robotic structure,the dynamic analysis and simulation,the parameter tuning of position control system and the field testing of working performance.Combining with the technique parameter and workflow of heavy-load handing robot,the general design of robot was identified and its structural characteristics were analyzed.The dynamic equation was derived from the Lagrange method,and the control system was influenced by the parameters of inertia term,acceleration term and gravity term.The comprehensive physical quantity related to the quality and geometric length of robot components was summarized.In mechanical design terms,not only did it promote dynamic performance by lessening the comprehensive physical quantity,but proposed to combine other balancing methods to improve the dynamic balance of the system.To run the robot stably and enhance accuracy,the dynamic equation of transmission system was derived from the lumped parameter method.The servo system equation of key axis was established based on PID control method,and the model of robot independent joint position control system was analyzed.The system was simulated by MATLAB software,and the system parameters were tuned by the step response curve and the trial and error method.Based on the tuning parameters,the characteristic rule about the step response and the tracking error of position control was studied.In order to test the reasonability of robot structural design and correctness of motor selection,the running dynamic characteristics and terminal displacement characteristic curves of the key components of the robot are simulated by using ADAMS software.The error fluctuation and formation cause in the running process of the key components were analyzed.The characteristics of peak torque of the key components are investigated and analyzed by simulating the working force under typical working conditions.According to the model of robot independent joint position control system,the joint simulation platform was established,and the mechanical structure and the performance of the control system was tested.The experimental prototype of compound robot was built for further verify the rationality and reliability of robot design.The servo system was adjusted with the combination of the theory analysis and on-line adjustment technology.The control system was debugged based on the safety standards of industrial robots and debugging instructions,and the stable running state of robot was tested on the spot.By means of test standards,its repeatability of the position distance was tested and results were basically consistent with the industry standard.The main factors that affect the accuracy of robot were put forward.On the basis of reference to domestic and foreign literatures and former research,this paper investigates the heavy-load handing robot which is self-developed and analyzes its characteristics.The paper puts forward the approaches to promote dynamic performance of robot by dynamic analysis.Tuning and optimizing the parameters of position control system via the step response curve and the trial and error method.Verifying the rationality of structural design and accuracy of motor selection by the simulation of robot dynamic and control system.Through system debugging and performance testing,it shows that the design function and operation technology of robot have reached the industry standard and have certain practical significance to engineering practice.