Two-finger Manipulator For Electronic Manufacturing Assembly Process Control System Research And Design

At present,most of the pipelines use air cylinders or some pneumatic grippers to achieve some grabbing tasks,but their power and stroke are not easy to control.The traditional gripper at the end of the robotic arm has been difficult to meet the needs of product production.The robot dexterous hand as a universal end-operator will play an important role in the modern industrial production field.Manipulator is a robot end effector widely used in the automation industry.It usually completes control tasks with a variety of robotic arms.It is widely used in industrial processes such as processing,assembly and handling.Its research,design and manufacturing involve many disciplines such as automation,materials,machinery,and computers.At present,the research and performance improvement of the manipulator mainly focus on the mechanical structure and the control system.The former is the execution tool,which directly affects the execution effect of the operation task;the latter is the processing center,which determines the way the robot performs the task.The focus of this article is to study and design a twofinger manipulator control system for the electronic manufacturing assembly process.First of all,starting from the control requirements,a mechanical structure analysis was carried out,and a hardware solution combining the motor control board and the communication board,and a software solution combining high real-time motor control and multi-task communication were proposed.The hardware circuit design of the control system is completed according to the design plan,which mainly includes motor drive,motor position acquisition,current detection,communication circuit,etc.Then,considering the fact that there are grasping situations with different stiffness of actual objects,a grasping control method based on a force outer ring is proposed,and it is implemented with a PID force control method.Considering the delay of PID in the actual crawling process,the combination of gray prediction and PID is introduced to improve the response speed and reduce the amount of overshoot.And completed the software design of every functional modules one by one,combined the hardware and software to realize the system functions.Finally,the manufactured manipulator is connected to the control system for test verification,followed by parameter verification experiments and grip performance experiments.The experiment proves that the designed operating parameters of the control system meet the design requirements.When grabbing the object,there is no obvious overshoot of its force,and there is no obvious deformation of the grasped object and the mechanical claw.The design can meet the common needs in the electronic manufacturing assembly process,and has certain practical significance.