The Simulation Research Of GGZ-18 Strander Automatic Loading Robot

The stranding process of steel wire rope is an important link in the production process of steel wire rope,and the strander is one of the main equipments for the production of steel wire rope.Aiming at the loading process cumbersome and low work efficiency in the wire rope production process of Xianyang BOMCO Steel Tube & Wire Rope Co.,Ltd..In order to improve the production efficiency of the strander,reduce the labor intensity and labor reduce cost of the strander,Text combine the structure and process requirements of GGZ-18 strander,a set of automatic loading robot the overall structure design of the automatic loading robot of the GGZ-18 strander have been designed.Based on the robot kinematics theory,the kinematics analysis of the automatic loading robot is carried out,and the kinematics equations of the automatic loading robot are obtained,and the forward and inverse kinematics of the automatic loading robot are solved,and the correctness of the kinematics equations are verified.In order to establish an accurate dynamic model of the automatic loading robot,the CAD method is used to obtain the dynamic parameters of the automatic loading robot,and then the dynamic model of the automatic loading robot based on the Newton-Euler dynamics method is established.Laying a foundation of torque feedforward control model.Aiming at the problem of low position tracking accuracy of traditional PID-controlled industrial robots,the torque feedforward control method is studied,and the automatic loading robot simulation model is established based on MATLAB,and the torque feedforward control simulation is realized.Compared with traditional PID control,the use of torque feedforward control can reduce the joint trajectory tracking error of the automatic loading robot by 24%-28%,which shows that the torque feedforward control improves the joint trajectory tracking of the automatic loading robot of the GGZ-18 strander can significantly improve trajectory tracking accuracy.The automatic loading robot designed in this paper meets the needs of workshop production,improves production efficiency,is conducive to the improvement on the automation level on wire rope production workshop,and has certain social and economic benefits.