五自由度点胶机器人控制系统的分析-analysis of control system of 5 - dof dispensing robot.docx

哈尔滨工业大学工学硕士学位论文 哈尔滨工业大学工学硕士学位论文 - - II - Abstract Shoemaking is one of mainstays in light industry, but now, in the dispensing process for shoemaking has low degree of automation, poor working conditions, so in shoemaking industry, we should using dispensing technology automaton technology to advance our country’s modernization. This can improve product quality and production efficiency; create huge economic and social benefits. The robot for the paper is the 5-DOF robot for shoemaking in dispensing technics which is manufactured by Mingsai Tech Ltd. The paper design the hardware of IPC-based multi-axis robots motor control system, the hardware of PCM-3466-based teaching programming system, design the variable subdivision driver of stepper motor. The paper establish the glue supplying system, model the key actuator of the system——dispensing tube, analysis the glue velocity and volumes relations to tube radius and glue pressure. According to the actual production, the paper uses the changing of the pressure to change the glue supply volume, and achieve precise control over the volume. In software design, the Cartesian coordinate is founded, using the Cartesian coordinate, kinematics equations are established. The paper gives answers to them. The velocity Jacobian matrix is analyzed in the paper; a three-axis circular interpolation algorithm based on the rotary coordinate is presented. Based on it, using hierarchical and modularization design methods, the paper design the control system software; using a top-down design method to design the teaching programming system software design. Based on analysis of robot dispensing process of dispensing line, the experiments of dispensing and the performance test of the robot is done, to verify the correctness of the design. In this paper, the results of research not only can be used for shoemaking, but also can be used for dispensing complex surfaces operations. Keywords: 5-DOF Robot; Dispensing; IPC; Control System - - PAGE