Research On Pneumatic Constant Force Control System For Industrial Robots

Industrial robots are multi-joint automation devices used in the industrial field.They can perform repetitive production operations with high efficiency and high precision,and liberate people from complicated production labor and harsh working environment.With the rapid development of industrial robot technology,the requirements for contact work in industrial fields have also increased.For contact work scenes such as grinding,polishing and assembly operations,the change in contact force has an important influence on the quality of processing and assembly.In these scenarios,the contact between the actuator and the workpiece can only be achieved by the traditional position control.The robot not only keeps the workpiece in contact with the processing tool,but also needs to detect and control the contact force to better meet the job requirements.This paper designs a set of pneumatic constant force control system for industrial polishing.The design and analysis of the constant force control system for industrial robots were completed from the aspects of system design,component selection,mathematical model establishment,control algorithm simulation and experimental testing.The constant force control system designed by this thesis uses the force sensor and data acquisition card to obtain the force signal of the robot in real time.The feedback control signal is output through the upper computer control algorithm,and the thrust of the cylinder is controlled by controlling the proportional pressure reducing valve and the electromagnetic valve to achieve the purpose of constant force control.The paper establishes the system mathematical model based on the actual parameters.The simulation experiment through MATLAB demonstrates that the PID control algorithm can obtain good results,and the PID parameter tuning method is given.Through the experimental platform test and the actual operation test,it is proved that the system can meet the requirements of constant force control of grinding and polishing operations,thus laying a theoretical and experimental basis for the actual products research and development of industrial robot constant force end effector.