Cylindrical coordinates-based Manipulator
I. Research
Robot is able to mimic some of the manpower and arm motor function, a fixed procedure for crawling, handling objects or operation of the automated installation tools. It can replace human labor in order to achieve the heavy production mechanization and automation in the hazardous environment in order to protect the personal safety of the operation, which is widely used in machine building, metallurgy, electronics, light industry and atomic energy departments. The first is from a robot developed by the United States has begun. Joint control of the United States in 1958 the company developed the first robot.
Industrial robot is a machine created by mankind, it is human to create a great miracle, and its research, development and design from the middle of the beginning of the twentieth century. China's industrial robot from the 80's \the support of the country through \operation of robot design and manufacture of machine technology, control systems hardware and software design techniques, kinematics and trajectory planning for technology, production some of the key components of the robot to develop a spray-painted, solitary welding, spot welding, assembly, handling robots, etc., of which more than 130 painting robot business in nearly 20 more than 30 automatic spray painting production lines (stations) on the was the size of the application of welding robots have been used alone in the car factory assembly line. However, the general view, China's industrial robot technology and its engineering application level and there is a certain distance than abroad.
Manipulator by hand and sports institutions. Task of hand is holding the workpiece (or tool) of the components, according to grasping the object shape, size, weight, materials and operating requirements of a variety of structural forms, such as clamp type, ADS holders and adsorption type, etc. . Movement mechanism, so that the completion of a variety of hand rotation (swing), move, or complex to achieve the provisions of the movement, changing the location of the object grasping and posture. The rise and fall of body movement, stretching, rotating manner, such as
the independence movement, known as the degree of freedom manipulator. Crawl space to any location and orientation of objects is that there is a six degrees of freedom. Degree of freedom manipulator design is the key parameter. More degrees of freedom, the greater the flexibility of robot, the more widely versatile, and its more complex structure. General manipulator dedicated 2 ~ 3 degree of freedom.
Robot type, according to drive can be divided into hydraulic, pneumatic, electric, mechanical manipulator; by the application of the manipulator can be divided into special and two general-purpose manipulator; by trajectory control points can be divided into control and continuous, such as robot trajectory control.
Manipulator used for machine tools or other attachments, such as automatic machine or automatic loading and unloading and delivery of the production line work in the machining center tool, such as replacement of, the general lack of independent control devices. Some devices need to operate directly from person to manipulate, such as for the atomic energy sector to maintain dangerous goods operator of the master-slave manipulator is also often called. Second, the purpose and significance of
With the improvement in the level of industrial automation, industrial site will be a lot of heavy manual labor instead of by machine, this can reduce the labor intensity of workers, on the other hand, labor productivity can be greatly enhanced. For example, in China the production of many small and medium-sized machinery industries, such machining processes are often needed to manually down expected, both time-consuming and laborious, and affects the efficiency, with the rapid development of robot technology and applications continues to deepen, not only reliability requirements of robot control, the use of flexible and easy to operate and good, but also lower production costs, the development of the economy strong robot system more practical significance.
First of all, the significance of this issue is that it has a very strong practical orientation, the material of the finished crawling robot research machine industry has a direct role in the guidance. Manipulator to improve the working conditions of workers, reducing the labor intensity, labor productivity increased significantly.
At present, at home and abroad, a variety of robots and robot research has become a hot scientific research and the general trend of the current situation is as follows:
A. Mechanical structure to the modular and reconfigurable development. For example, module joint servo motor, reducer, one of detection system; by the joint module, link module structure with the reorganization of the way the robot machine.
B. Industrial Robot Control System PC-based controller the direction of the development of an open, easy to standardize network; devices to improve integration, control cabinet increasingly compact and modular structure; greatly improving the reliability of the system, easy-to-use and maintainability.
C. Robot sensors play an increasingly important role, in addition to the traditional position, velocity, acceleration and other sensors, the assembly, also the application of welding robot vision, force and other sensors, and remote-controlled robot used visual, sound sleep, force , touch, such as multi-sensor fusion technologies for decision-making control; configured multi-sensor fusion technology as the key technology of intelligent robots.
D. Joint type, side-jet, top-spray type, gantry-type robot spray product standardization, GM, and modular series design; flexible profiling spraying robot development, flexible institutions to develop complex profiling, profiling axis servo path planning research, control system development;
E. Welding, handling, assembly, cutting operations, such as the standardization of products of industrial robots, general-purpose and modular, seriation studies; and offline teaching systems programming and dynamic simulation.
In general, the whole is moving in two directions: One is the intelligent robot, multi-sensor, multi-controllers, advanced control algorithms, the complex mechanical and electrical control system; the other is associated with the production and processing to meet the relatively specific the task of the industrial robot, the main modules using cost-effective in meeting the
requirements on the basis of the pursuit system in the economic, simple, reliable and widely used industrial controller, market-oriented, modular components.
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