Development Of Lightweight Four-axis Robot Driver Controller Integrated Control System

With the advent of the mobile Internet era,the demand for 3C products represented by smart phones is huge.However,there are still a lot of low-end repetitive manual labor in the assembly and manufacturing of 3C products,and it is imperative for robots to enter the 3C product manufacturing field.However,SCARA,the most common four-axis industrial robot in the 3C manufacturing field,has a high cost.Therefore,this paper is mainly aimed at the pick-and-place application of the lightweight palletizing robot in the 3C industry in the 3C industry,and the drive control system of the palletizing robot.And a comprehensive study of the drive control system of the palletizing robot was carried out.In order to meet the requirements of cost reduction,combined with the task requirements of the 3C product line,this thesis defines the task indicators based on the 3C product line and compares the characteristics of the same type of robots,and uses the robot forward and inverse solution calculation method and dynamics simulation to determine the task indicators.The simulation determines the performance index of each axis of the palletizing robot to guide the selection of the motor and reducer.The focus is on the design of the first and second joints of the 3C product online palletizing robot.Accurate drive control integrated system.The hardware includes a driving module,a control module,a current sampling module,an encoder module,a communication module,and a power module.Based on the design of the integrated drive control system,the voltage vector modulation algorithm and the permanent magnet synchronous motor vector control algorithm are studied and the two control algorithms are implemented by software.Since the control of the permanent magnet synchronous motor requires the initial position of the motor,the software implements it,at the same time,the motor closed-loop control is programmed,and the test of the current loop speed loop position loop is completed from the inside to the outside.Combined with the requirements of the palletizing robot pick and place operation design experiments,it is verified that the motor can quickly complete the point-to-point position conversion and meet the requirements of the robot index.