Design Of Control System For Auto Parts Grinding Robot

The advanced scale of modern manufacturing has been completely inseparable from the wide range of applications of robots.An important indicator for judging the degree of manufacturing development in a country is the technical level of robots that the country can achieve.Among the robots currently used in the manufacturing industry,six-degree-of-freedom robots have the largest range of applications due to their excellent sensitivity.The industrial scope and business areas involved in the demand of robots are becoming more and more obvious.So,further basic research on robots is indispensable.In this paper,the main bearing cap grinding of set of grinding robot control system is designed and developed by FAWER CHASSIS COMPONENT BRANCH COMPANY.The main research contents are as follows:Firstly,according to the technical requirements of the main bearing cap of the automobile engine and the requirements of the grinding process,the overall composition scheme of the six-degree-of-freedom grinding robot is designed.It is determined that a six-degree-of-freedom grinding robot is used instead of manual grinding to achieve the purpose of improving accuracy,increasing productivity,improving efficiency,and reducing labor intensity.Secondly,according to the overall design scheme of the grinding robot,the grinding robot trajectory algorithm is mainly studied,the kinematics model of the grinding robot is established,and the D-H model of the grinding robot is established.Then the trajectory of the grinding robot is planned by solving the forward and reverse directions of the grinding robot.The simulation experiment further verifies the feasibility of the trajectory algorithm.Then,the hardware and software of the grinding robot control system are designed.Through the selection of the grinding robot hardware,the overall layout of the grinding robot is formed.The design of the control system software of the grinding robot is used to realize the cycle operation of the grinding machine.Finally,the grinding robot was debugged and the repeating positioning accuracy of the grinding robot is tested.