Design And Experiment Of Networked Remote Control System For 5-DOF Bending Robot

Sheet metal bending is an important processing method in industrial production,and the bending process largely determines the final quality and bending accuracy of sheet metal parts to a great extent.At present,the manufacturing industry is developing towards the direction of informatization and automation.With the increasingly mature application of robot technology,they are not only the labor force in industrial manufacturing,but also able to complete some dangerous and difficult tasks.Due to the continuous development of industrial robots towards automation,the topics related to robots have been the focus of research,such as path planning,motion and cooperative control.With the increasing demand of modern enterprises for using robot to cooperate with bending machine for bending operation,this paper studies the bending operation of the five-degree-of-freedom manipulator,and on this basis,a networked remote control system is built using the internet as the medium,so as to realize the purpose remotely controlling the robot,and improve the degree of intelligence and automation of the robotic bending process.Based on the five-degree-of-freedom rectangular coordinate bending robot,this paper conducts research and experiments including key technologies such as motion analysis,trajectory planning,and remote control.Specifically as follows:Firstly,the overall structure design of the five-degree-of-freedom manipulator is described,and the hardware platform of the five-degree-of-freedom rectangular coordinate bending robot is built.According to the servo driver and motion control card used in the control system of bending robot,software debugging and system control program writing were carried out.Secondly,the robot bending process path planning is studied.By establishing the five-degree-of-freedom rectangular coordinate bending robot connecting rod coordinate system,the D-H parameters are obtained and the relevant kinematics analysis is carried out to obtain the robot kinematics equation.On this basis,the bending path in the robot bending process is programmed.After that,the motion trajectory of the robot is planned in joint space and cartesian space respectively.Polynomial interpolation is used to plan the joint velocity in the process of motion,the bending trajectory in the environment without obstacles is planned by the combination of piecewise function and sine function,and the obstacle avoidance trajectory in the environment with obstacles is planned by the rapidly-exploring random tree algorithm based on an improved artificial potential field method.Through the mathematical model and the application of Matlab software to verify the above algorithm for robot bending processing motion feasibility.Finally,the Internet of Things technology and Python development technology are used to combine various terminals with a five-degree-of-freedom manipulator through a web server to realize the remote control of robots based on the Internet of Things and verification through experiments.