连续生产线拆装机器人控制系统设计

发布时间：2018-04-29 02:23

本文选题：机器人控制系统 + 步进电机　；参考：《西安工业大学》2017年硕士论文

【摘要】：企业为实现对轻小部件连续生产线自动化改造,极大地增加了对轻负载、低成本机器人的需求。针对直线式分配器感应焊接设备,研发一款小型号、低成本,能够实现自动拆装焊件的机器人,以节约制造成本,提高生产效率,具有较好的实际意义。本文设计了一种可以控制机械臂运动的小型机器人控制系统,其中选用步进电机和舵机作为机械臂关节电机,选用STM32F103VCT6作为核心控制芯片,应用CAN总线作为通讯传输。根据选型方案完成机械臂控制系统硬件电路设计,主要包括STM32F103VCT6控制器电路、CAN通信接口电路、步进电机驱动电路、舵机控制电路等,在Altium Designer中完成硬件电路原理图以及PCB图的绘制。完成机械臂控制系统程序设计,主要包括上位机操作界面程序、CAN总线通讯程序、关节电机控制程序等,在KeiluVision中完成相关程序的编写,在Visual Studio中完成上位机操作界面的制作。为实现机械臂精准控制,对机械臂运动轨迹规划部分进行研究,得出关节角度与末端执行器位姿的关系。经联合调试,设计的机器人控制系统满足要求。该款机器人能有效的解决直线式分配器感应焊接设备进行焊接操作时,需要人工操作的不足,将手工操作变成自动化机械操作。
[Abstract]:In order to realize automatic transformation of continuous production line of light small parts, enterprises greatly increase the demand for light load and low cost robots. Aiming at the induction welding equipment of linear distributor, a small model and low cost robot can be developed to realize automatic disassembly and assembly of welding parts, which can save manufacturing cost and improve production efficiency. It has good practical significance. In this paper, a small robot control system is designed, in which stepping motor and steering gear are selected as joint motor of mechanical arm, STM32F103VCT6 is used as core control chip, and CAN bus is used as communication transmission. According to the selection scheme, the hardware circuit design of the manipulator control system is completed, including the STM32F103VCT6 controller circuit, the can communication interface circuit, the stepping motor driving circuit, the steering gear control circuit and so on. The schematic diagram of hardware circuit and the drawing of PCB diagram are completed in Altium Designer. The program design of the manipulator control system is completed, including the upper computer operation interface program, the joint motor control program and so on. The related program is compiled in KeiluVision, and the upper computer operation interface is made in Visual Studio. In order to realize the precise control of the manipulator, the kinematic trajectory planning part of the manipulator is studied, and the relationship between the joint angle and the position and pose of the end actuator is obtained. After joint debugging, the robot control system is designed to meet the requirements. The robot can effectively solve the linear distributor induction welding equipment welding operation, the need for manual operation, manual operation into automatic mechanical operation.
【学位授予单位】：西安工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TG409;TP242

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