Dynamic Characteristic Analysis And Control Strategy Of Heavy Load Truss Robot

As labor costs rise,and with the continuous promotion of the "made in China 2025" plan,efficient and environmentally friendly flexible intelligent manufacturing has become the mainstream development direction of China's manufacturing industry.As the key to flexible intelligent manufacturing,heavy-duty truss robots play a brilliant role in the industrial field,which can play an important role in liberating labor,reducing production costs and improving work efficiency.Due to the late start of research on industrial robots in China,there is still a big gap in design and manufacturing with foreign countries,in addition,there is a lack of in-depth theoretical computer optimization design analysis.Therefore,in order to improve the working performance of the heavy-duty truss robot,it is necessary to analyze its system dynamics and control strategy.This paper summarizes the current research status of the dynamic characteristics and trajectory planning direction of the heavy-duty truss robot.According to the existing structural model of the heavy-duty truss robot,in order to improve the dynamic performance of the heavy-duty truss robot in the actual work process,three aspects of theoretical analysis,simulation analysis and test are studied.First of all,according to the motor control mode of the heavy-duty truss robot,the influence of three common speed control modes on the dynamic characteristics of the heavy-duty truss robot is analyzed and compared,and it is concluded that the quintic polynomial speed control mode has the minimum dynamic impact in the motion process of the heavy-duty truss robot.Secondly,the defects of the traditional quintic polynomial speed equation are analyzed.The maximum speed and acceleration of the motor are constrained by the segmented method,and the optimized quintic polynomial speed equation is derived again.Then in order to improve the positioning accuracy of the heavy-duty truss robot,a control strategy based on Fuzzy PID is proposed,and MATLAB is used to simulate the trajectory following.The simulation results show that the fuzzy PID control can effectively improve the motion accuracy of the heavy-duty truss robot.Thirdly,through the establishment of different rigid flexible coupling models of the heavy-duty truss robot,the dynamic characteristics of the truss robot under different working speeds are analyzed,and the deformation of the crossbeam is established as the main influencing factor.The maximum speed of the heavy-duty truss robot should be controlled within 600 mm / s.Finally,through the combination of finite element simulation and modal test,the dynamic characteristics of the heavy-duty truss robot system are analyzed,and the simulation results and test data are compared to verify the accuracy of the simulation.