The Design And Application Of Constant Force Controller For 3C Shell Grinding Robot

Nowadays,with the rapid development of science and technology,the upgrading of industrial technology becomes more and more important.Intelligent manufacturing plays an important role in the current environment.In the development of intelligent manufacturing,robotics technology can not be ignored because of its special advantages.Robot is an automaton device.People can write programs to make it move according to the trajectory that has been written.Robot technology is a combination of many technologies,such as computer technology,mechanical manufacturing technology,artificial intelligence technology and so on^[1].Industrial robot is a machine with automatic control,programmable,more than three-dimensional freedom of operation,which is widely used in industrial production.Among them,grinding robot is widely used.With the rapid development of robot technology,the grinding and polishing technology of robot parts has been more and more widely used^[1].Because grinding technology belongs to the field of finishing processing^[3],skilled grinders have a long training period and high training cost.Therefore,using robots instead of manpower to grind grinding devices has obvious advantages,such as:High efficiency,high safety,cost saving,etc.In the grinding process of industrial robots,it is not easy to control the grinding force and get ideal grinding effect.Therefore,this paper focuses on the constant force control of industrial robots.The main research contents include the following aspects:?1?Description of the status quo of robotsFirstly,the emergence,development and reality of robots are described,and then the current situation of robotic grinding at home and abroad and the significance of robotic grinding are explained.At last,the development of robot compliance force control at home and abroad is emphasized,and some advanced research methods of robot compliance force control are introduced.?2?Force position control principleFirstly,the dynamic mathematical model between the robot and the environment is theoretically expounded,and the principle of impedance control of the robot is discussed.Then a control block diagram based on the position impedance model is built on MATLAB,and the single particle is taken as the control object to study the influence of inertia parameters,damping parameters and stiffness parameters on the control law of the system and the force following condition.Finally,under the environment of Robotics Toolbox,the block diagram of position impedance control is built and simulated by MATLAB.?3?Integral design of grinding system and Realization of constant force grindingTaking Nazhi robot as the main structure of the grinding system,the grinding peripheral equipment such as tearing,changing sandpaper device,grinding platform,collecting relay,24V power supply,air compressor and other devices are designed with CAD software to build an industrial robot grinding system which can be applied to actual production.Flexible grinding mechanism is designed by using spring and moment sensor to control the constant grinding force.Through the constant force control system of the grinding robot designed in this paper,the constant force grinding in the grinding process is realized,and the good force following effect in the grinding process is obtained,which has important practical significance.