Development And Implementation Of Gantry Manipulator Controller For Loading And Unloading

As a kind of automation equipment for CNC machining and palletizing,the gantry manipulator of loading and unloading can effectively replace the workers in the actual production process.The manipulator controller is the key factor determining the performance of the manipulator.Therefore,a universal gantry manipulator ofloading and unloadingcontroller has been developed,which can realize multi-axis linkage,automatic calculation of silo position,and support for highly flexible program instructions.This thesis analyzes the research status of existing manipulator controllers at home and abroad,and develops a universal gantry manipulator of loading and unloading controller based on STM32F103 microprocessor.The controller mainly realizes high-precision motion control,multi-axis synchronous control,program jump and other functions.The main work is as follows:1.According to the actual functional requirements of the gantry manipulator of loading and unloading,the overall frame of the controller is designed,and the system frame and hardware circuit design of the truss manipulator controller are expounded.2.Firstly,a discrete S-type velocity planning algorithm is designed to achieve smooth single-axis high-precision control.Secondly,for the problem of positional deviation in two-axis synchronous control,a discrete S-type velocity planning algorithm based on single-pulse mode is proposed,which can effectively realize multi-axis high-precision synchronous control.At the same time,the automatic positioning function is preset for the matrix silo,which effectively reduces the complexity of the user program.Taking into account the versatility of the controller,the program is modularized according to the control requirements,which can realize the analysis and reproduction of the programming teaching program instructions in the specified format.In addition,logic judgment instructions and program jump functions are designed to further ensure the flexibility and versatility of the controller.3.The truss robot controller software program has been developed,including system initialization function,communication analytic function,input signal and state control function,motion control function,and alarm detection function.The IAP remote firmware update function was designed to implement an offline upgrade of the firmware program.Finally,the functions of the controller were tested in detail through a three-axis experimental platform.On this basis,the controller product is applied to the production of CNC machine tools.After a long period of field production,the controller can meet the actual working requirements of the gantry manipulator of loading and unloading,and has very good versatility and reliability.Finally,the research work of this thesis is summarized,and the advantages and disadvantages of this controller are introduced.The future research and development direction of the controller is proposed for the application scenario of truss loading and unloading manipulator.