Design Of Small Parts Oriented Robot Gripping System

As an important application of robot gripping,there is a growing demand for small parts gripping in a number of fields such as 3C and bioscience industries.However,the gripping procedure during small parts assembly is faced with many technological challenges.The small parts are generally of small size,lightweight and multi-shaped,which makes them fragile.Meanwhile,those small parts usually have low strength and apt to deform.Besides,the assembly procedure for small parts are relatively more complicated,which means the cooperation between human worker and robots is indispensable for the accomplishment of those complicate tasks.What's more,due to the diversified species of small parts,the gripper is required to accommodate different target objects and perform a series of tasks without replacing fixtures for many times.To figure out the problems raised above,this research aims to design a robot gripping system for the small parts assembly tasks.Firstly,the fundamental parameters are decided according to the dimensions and strength of small parts,based on which the gripper's basic kinematic model is soon built.In the mean time,the design and modeling of gripper is carried out using Solidworks,after which the kinematic simulation is accomplished.Afterwards,by using the finite element analysis those key components are checked to ensure their strength and stiffness.Meanwhile the dimensions and materials of gripper are optimized to realize the light-weight design.After that the control circuit is designed,followed by the selection of electronic components and driving servo.At the same time the communication protocol is designed to enable the message transferring between servo and microprocessor.Secondly,the control strategy and algorithm are designed to fulfill the position control,speed control and gripping force control of robot gripper.Meanwhile the P Control,PI Control and Fuzzy Control algorithms are realized with the calibrated thin film pressure sensor.Afterwards the teaching-based and adaptive gripping strategy are proposed.The algorithms,control logic and strategies mentioned above are realized by programming subsequently.Thirdly,in the basis of the existing robot system,whose fundamental kinematic model is analyzed and simulated,an application software is developed to achieve the real time simulation and control.The software is capable of controlling the gripper,simulating teaching mode,programming off-line,etc.Finally,experiments are conducted based on the hardware and software platform mentioned above.In the mean time,the previously designed control strategies and algorithms are verified as well.