Design Of Wire Harness Planting Manipulator Control Systems Based On SEA

In the face of increasing labor costs and increasing market demand,the traditional manual planting method has been unable to meet the automation requirements of harness planting.Therefore,this thesis addresses the problem of multi-wire beam programmable interpolation and planting force control in the process of wiring harness for transplanting.Combined with closed-loop PD control method,an automatic wire harness planting manipulator control system based on Series Elastic Actuator(SEA)is designed.The main works and results of this thesis are as follows:Firstly,the background and significance of the research are briefly introduced.And the current research status of planting force control,automatic planting devices and series elastic actuator are reviewed.Secondly,the overall design of the three-axis beam transplanting manipulator control system is introduced.First of all,the requirement of wire harness planting manipulator control system is analyzed.Then,the process flow of wire harness insertion is introduced.In the end,the hardware structure and the control system are introduced in detail.Thirdly,the dynamic model of SEA is analyzed.The SEA model and its dynamics equation based on position source control are derived.The frequency domain analysis of the model is performed in combination with the Nyquist curve,the Bode-plotting method and the frequency domain characteristic index.For the close-loop PD force control model,its corresponding PD control parameters are designed.The force tracking simulation experiment is performed on the SEA model based on position source control,and the selection range of the spring stiffness coefficient is given.Fourthly,the motion control program module for wire harness planting manipulator is designed,including the motion control program,the coordinate system teaching module,the planting force control module,the control instruction set module and the instruction parsing module.And the related visual man-machine interface is devised,including the basic jog control interface,the coordinate system teaching interface,the multi-harness planting programminginterface and the force control planting interface.Fifthly,wire harness planting control experiments are performed.Using the developed wire harness planting motion controller,the manual and automatic wire harness planting force control experiments are performed respectively,which verified the feasibility of the wire harness planting manipulator control system.Finally,the work of this thesis is summarized,and the research works also will be prospected in the future.