Research On Position Control Of Manipulator Of Four-head Electric Spindle

Improving the automation level of woodworking machine tools is the main way to improve the efficiency of wood processing production.As a large country using woodworking machinery,it is the future development trend to independently develop a new woodworking processing center to achieve wood processing automation.This paper studies an operating arm,which is essentially an industrial robot,whose function is to move the four-head electric spindle mounted on it to the expected processing position in the space and maintain a certain posture.The operating arm has the characteristics of flexibility and wide applicability,can meet a variety of processing needs,and can improve the production capacity of woodworking CNC machining centers.With the help of the previously designed manipulator and four-head electric spindle,the following research work has been carried out in this paper:(1)The kinematics research of the operating arm of the four-head electro-spindle.Simplify the manipulator,abstract it into a series of links connected by a kinematic chain,establish the position and posture description of the rigid body in the three-dimensional space,establish the coordinate system of each joint of the manipulator based on the standard DH parameter modeling method,and use the homogeneous transformation matrix To express the transformation relationship between the connecting rods,the positive kinematics equation is obtained.The solvability of inverse kinematics is analyzed,and the inverse kinematics solution of the manipulator is given.(2)The kinematics simulation verification of the operating arm of the four-head electro-spindle.TBased on the forward and inverse kinematics equations of the manipulator,the simulation program is written using the function function in the robot toolbox.The simulation results verify the correctness of the forward and inverse kinematics method.(3)Trajectory planning and simulation of the operating arm of the four-head electro-spindle.The commonly used trajectory planning algorithm is researched and analyzed,and the expected simulation trajectory is obtained through mathematical simulation software,which proves the applicability of the trajectory planning algorithm to the manipulator.(4)Dynamic analysis and simulation of the operating arm of the four-head electric spindle.Lagrangian method was used to analyze the dynamics of the manipulator,the dynamics mathematical model of the manipulator was established,the dynamic simulation was performed using simulation software,and the calculation program was written according to the dynamic model.After comparison,the correctness of the kinetic model is verified.In summary,the research content of this paper is the theoretical core of the four-head motorized spindle manipulator positon control system,which can lay an important foundation for the subsequent development and application of the control system hardware and software of the manipulator.