Reseach Of Control Strategy Of Accurate Workpiece Feeding System On Rack Broaching Machine

As a high-efficiency and high-precision metal-cutting equipment,broaching is widely used in processing holes,slots,prints and teeth.Collaborative feeding manipulator introduced to further improve the processing efficiency and broaching processing costs.However,due to the presence of static and dynamic errors of robotic feeding system and other parts,leading to the workpiece feeding accuracy decreases,and ultimately affect the machining accuracy of the workpiece.Based on the content of these necessity,this article focuses on multi-error model and compensation technology of robotic equipment cooperative broaching,presents a error-compensation control strategy with Improved Particle Swarm Optimization algorithm.And based on this strategy,this article has designed IPSO most excellent error compensation scheme optimization controller.Based on manipulator collaboration broaching system equipment,firstly this paper makes an introduction about the mechanical structures and working principle of the system,and the electrical control system is designed.Secondly the multi-error mathematical model composed of various parts of the system is been established based on the motion and mechanical properties of the robot cooperative feeding system.Finally,IPSO optimal error compensation controller is designed according to the improved Particle Swarm Optimization algorithm,and the controller is applied to the software of control system and proved to be effective by the experiment.In chapter 1,this paper introduces the background and significance about the manipulator collaborative broaching system,and elaborates the development status of the related key technology At home and abroad.In chapter 2,firstly this paper describes the manipulator collaborative broaching equipment composition and performance of the system.Secondly it introduces the mechanical structure of the broaching equipment.Besides the the electrical system of the control system is illustrated emphatically,which is the key to the system,including the design of electric supply and distribution,the selection and configuration of PLC module and laser displacement detector and the servo system selection and set-up.In chapter 3,firstly this paper sets the D-H coordinate system based on the robot structure of the manipulator,and derives the TCP kinematics model of the end of manipulator.Then derives the motion-error mathematical model with the motion-error parameters of each freedom of movement as the independent variable.Thirdly the kineto-elasto statics has been analyzed by using matrix-structural method and the finite element method,and the analytical model of spatial manipulator end-pose error resulting from manipulator link flexibility is established.After that the contact error model based on the structure of the gripper and the force model between gripper and workpiece has been established.Finally the Hertz contact e lastic deformation model has been derived by the contact force model between the ball and grooves of ball screws.In the end of this chapter,a multi-error mathematical model of the whole workpiece feeding system is established.In chapter 4,this paper introduces the improved particle swarm optimization control algorithm theory and designs a IPSO most excellent error compensation scheme optimization controller based on the error prediction model estabilished in chapter 3.In this error compensation controller,the optimal solution becomes the input of the motion controller of manipulator through optimization iteration in order to compensate the control system integration error.Finally the controller is proved to be valid for the error compensation of the workpiece feeding system by experiment.In chapter 5,the content done by this paper is summarized and analyzed,and the future of the error compensation of manipulator collaborative broaching system control system is discussed.