Development Of And Research On Parallel Robot For Varying-Pressure Jade Grinding And Polishing Based On Teleoperation

The progress in China’s intelligent manufacturing industry has seen the wide use of intelligent robots in various manufacturing industries.The jade,however,is still processed by hand and machine.When processed by hand,it is inefficient and time consuming.The pressure is difficult to control and in addition,it does harm to workers,stunting the growth of jade processing industry.Although mechanical processing helps increase efficiency,it is satisfying neither in detail processing nor in innovation.Therefore,the teleoperation-based parallel robots for jade polishing is proposed in this paper.With the varying-pressure polishing processing system of teleoperation-based pneumatic parallel robots as the research object,this paper focuses on:the pneumatic drive rod of parallel robots,the new parallel-robot manipulator’s structure as well as the master-slave control system.Main research includes:(1)Presents a new structure design for the pneumatic drive lever of parallel manipulator.Analyzes the technical requirement of modern-day jade polishing;builds the teleoperationbased remote polishing system and the configuration of parallel robots in the system;analyzes the parallel robot in terms of kinematics and dynamics based on its characteristics and movement function,so as to lay a mathematical foundation for designing the master-slave control system.Designs a new type of parallel robot with pneumatic drive lever as the main body,and the structure design,selection and verification analysis of the pneumatic drive lever are carried out;establishes the three-dimensional model of the pneumatic driving rod and the parallel robot.(2)According to the teleoperation main hand mechanism,a new structure design is carried out.Establishes the design requirements of the teleoperation main hand;designs a new set composed of an improved five-rod parallel structure and a two-axis intersection device;analyzes the five-bar parallel mechanism in the master hand in terms of kinematics.Establishes the three-dimensional model of the teleoperation main hand;analysis the detailed structural of the translation mechanism and the two-axis intersection device;ensures the stability of the teleoperation main hand via finite element analysis.(3)Establishes the pneumatic pressure and position control system for the pneumatic drive rod.Designs the pneumatic control system based on an electric proportional valve;according to reasonable simplification,establishes a nonlinear mathematical model of the pneumatic control system,and builds the corresponding simulation model;simulates and analyzes the end output force and end position of the pneumatic drive rod;verifies the accuracy of its theoretical analysis.(4)For the force and the position control of the teleoperation system,position-based impedance control is adopted as the main control strategy of the system.Compares and analyzes the advantages and disadvantages of impedance control and mixed control of force and position under the condition of polishing jade,proposes an impedance control strategy suitable for this paper,Including inverse dynamic position control in the joint space.Analyzes influences that impedance-controlled target impedance parameters impose on the pneumatic control system,Builds a simulation model of impedance control,verifies respectively the control of the desired position and the desired force of the end in the free space and the constrained space.(5)Designs the teleoperation master-slave control test system for verifying master-slave followability.Designs the hardware configuration in the system,including determining the type of main hand information acquisition components and controllers,and designing the corresponding main circuit and control circuit.Designs the software in the system,including remote operation master-slave control program and man-machine interface,etc.On this basis,the master-slave followability of the teleoperation master-slave control system is verified via experiments,and the analysis results show that the error is within the specified range.Through the research on the jade variable pressure grinding and polishing parallel robot based on teleoperation,the joint application of teleoperation and robot technology in jade grinding and polishing is realized,which provides a reference for the technical research of remote jade grinding and polishing.