Research On Integrated Wiring System For Electric Control Cabinet Robots

At present,in the production of electronic control cabinets at home and abroad mainly rely on manual arrangement of cables,there are shortcomings such as low efficiency and poor consistency of electronic control cabinets.With the development of science and technology,the electronic control cabinet is designed more and more fine and complex,engineers usually lose a lot of time when wiring,especially in the case of a large number of components,the result of manual wiring is different from person to person.In order to improve the technology level of electric control cabinet wiring,using robot instead of manual cable arrangement is the optimal solution in the current environment.Therefore,the path planning problem of robots has become one of the key technologies to be solved in this field.In this master's thesis,the kinematics of the robot is derived and calculated,the path planning algorithm is improved according to the wiring environment of the electronic control cabinet,and a wiring simulation workstation is built using ROBODK.The main research work of summarized as follows:(1)By analyzing the wiring process and rules of electronic control cabinet,the model of outputting electronic control cabinet through software EPLAN and the connection relationship between each component are determined,The research programme for this paper has been determined based on consideration of various engineering factors and core algorithms.(2)Forward kinematics and reverse kinematics of UR10 robots are studied.the linkage parameters of the UR10 robot were obtained using the D-H linkage parameter method and the kinematic equations were derived to the robot and solved by geometric and algebraic methods.using the MATLAB robot toolbox Robotics Toolbox the positive and reverse kinematics of the robot is verified.By calculating the workable space of the UR10 robot through the Monte Carlo method,the path planning of the UR10 robot provides a theoretical basis.(3)The path planning algorithm for electronic control cabinet wiring is studied.This paper analyzes the process and rules of cable layout of electronic control cabinet,puts forward a cable path planning method based on improved ant colony algorithm for electronic control cabinet wiring,uses grid method and bounding box modeling to preprocess wiring space,obtains three-dimensional planning space of wiring path.(4)Based on the theoretical and technical research results of this paper,ROBODK software is used to build the robot wiring simulation workstation of electronic control cabinet.An end-effector is designed for electronic control cabinet.Finally,the feasibility of the relevant theoretical techniques was verified experimentally.