Research On Control Technology Of Ammunition Fuze Assembly Robot Manipulator

With the development of industrial manufacturing,the application of mechanical arms has become more popular,and the mechanical arm has become the protagonist of intelligent manufacturing and industrial transformation.China's ammunition fuze assembly is mainly implemented by manual manual operation.In order to further improve the automation level of ammunition assembly in China and reduce the number of dangerous positions,it is imperative to replace the machine.The ammunition fuze assembly plant starts from the actual operation,there are many common dangerous processes in the operation process,and the automatic production line is used instead of the manual operation,and it is extremely urgent to reduce the number of dangerous process operators.Based on this,this paper takes the manipulator as the core,studies the manipulator control technology and fault detection technology,and proposes an automatic assembly scheme of ammunition fuze based on the manipulator.The design scheme details the design points and control features of the robot arm movement,workpiece grabbing,glue injection sealing,fuze tightening and workpiece inspection in the assembly system.This paper comprehensively analyzes the research progress of the mechanical arm control technology.In the radial basis function(RBF)neural network adaptive sliding mode controller research,the designed control scheme combines adaptive sliding mode control and nonlinear mapping of neural network.The adaptive control scheme can automatically adjust according to the dynamic changes of the system.The parameters of the controller,RBF neural network has the characteristics of universal approximation of the uncertain function,effectively suppressing the chattering problem that traditional sliding mode control cannot avoid.Through MATLAB numerical experiment analysis,it is proved that the controller performs well on the tracking of the desired trajectory of the manipulator and the suppression of the chattering problem,and meets the system design requirements.This paper fully considers that the mechanical arm needs to complete high-risk operations and ensure the safety of the operator.In particular,the fault detection method of the ammunition fuze assembly robot arm is proposed.In the research of fault detection method based on interval observer,the cross-linking function which characterizes the coupling relationship between the joints of the manipulator is introduced,and the dynamic model of the mechanical arm fault is established.Based on the interval observer design method,a fault detection strategy based on interval observer is designed.The validity and feasibility of the method are verified by MATLAB numerical experiments.Through the experimental platform of the assembly of the arm movement of the ammunition fuze,the experiments related to the test controller and the fault detection strategy are designed,and the effectiveness of the assembly strategy and algorithm is verified.