Design And Research Of Die And Mold Polishing Robotic System

With the continuous development of China’s die and mold manufacturing industry,the die and mold polishing method based on manual operation has been difficult to meet the market’s requirements for flexibility,high efficiency and high quality of die and mold manufacturing.During the die and mold polishing process,the harsh working environment also seriously affects the physical and mental health of the operators.As a commonly used industrial production equipment,tandem robots have unique advantages in the use of die and mold polishing.Therefore,the design of a robotic system suitable for die and mold polishing is of great significance to improving the working environment,improving the level of die and mold processing automation and promoting the upgrading of the die and mold industry.In this paper,the step and characteristics of traditional die and mold polishing process are analyzed.According to the characteristics of the single motion removal of manual die and mold parts polishing is extremely small and the amount of each removal is relatively uniform,based on the Preston equation,with the goal of stabilizing the contact force and motion speed of the robot terminal working point,the robotic system scheme for die and mold polishing processing is proposed,and the corresponding host computer software is made in the Qt development environment.An active compensatory end effector with electromagnetic force as the power source and stable end contact force is proposed,and the dynamic mathematical model is analyzed to obtain the transfer function of the system.Using fuzzy PID control strategy,the control system model is simulated in Simulink.Simulation shows that compared with the traditional PID control strategy,the end effector can effectively reduce the overshoot and the number of oscillations under the control of fuzzy PID,and the time for the system to reach steady state is reduced by0.7 s.From the improved D-H parameter method,the structure of the robotic system is spatially described,and the forward and inverse kinematics analytical solutions are derived.What’s more,a path discrete point time series allocation optimization method are proposed,which can effectively improve the stability of the end of the robot arm.With the robot kinematics model established by the robot toolbox in MATLAB,this study combines this method with the kinematic solution of the robotic system and the cubic polynomial trajectory planning method to perform kinematic simulation calculations.The results show that while meeting the requirements of joint continuity,the motion speed stability of the joint and terminals has been significantly improved,after the optimization of discrete point time series allocation.With the key components of the robotic system are selected and processed,the physical production and debugging of the polishing robotic system are completed.According to the trajectory generated by the module,setting the expected contact force of the system to 10 N,the polishing simulation experiment is performed,while the contact force change during the end movement is recorded.The results show that the contact force of the end working point can be stabilized between 8.966 N and 11.255 N,and the control effect of the contact force has been significantly improved compared with the situation without end effector compensation,which can meet the design requirements of the robotic system,verifying the feasibility of the system design scheme.