Motion Simulation And Control Study Of Robot With 4-dof Based On Hydraulic Driving

In recent years, industrial robots are more widely used in manufacturing, ocean development, aerospace and other aspects, with the direction of industrial manipulator to a deeper level of development and improvement of intelligent, application of the manipulator is still kept expanded. This detailed study of four degrees of freedom based on the hydraulic-driven motion characteristics of the manipulator and control system, using advanced MATLAB toolbox module robot manipulator dynamic simulation, its structure and drive system has done a detailed study, and control system have also been studied in detail.This article is divided into six chapters, the main contents of each chapter are as follows:Chapter 1 introduces the development of domestic and foreign industrial robot in the industrial production process and the extensive application process, analyzes the development status of industrial robots and future trends, it illustrates the main contents of this paper and its significance.Chapter 2 analysis the kinematics and dynamics of the robot. The study of kinematics and dynamics is the baces of the robot is very important, directly related to the dynamic nature of the robot on the study of structure and control system. So establishing kinematics and dynamics model of manipulator motion simulation is essential. The chapter by D-H method to establish the mechanical hand of each pole of the coordinate system, according to homogeneous transformation of the robot kinematics to calculate the manipulator end position and orientation; using separation of variables for inverse kinematics was solved to calculate a joint angle of each link, which verifies the correctness of the positive solution; derived using lagrangian method manipulator dynamic equation; the discussion and analysis of the point to point path lay a theoretical foundation planning for simulation of mechanical hand.Chapter 3 carries out the movement of the manipulator simulation using MATLAB software. At first,established manipulator model in the CATIA software platform and carried out parts assembly; On this basis, using MATLAB software toolbox build four degrees of freedom robot manipulator object, by setting the D-H parameters, so that it has a similar structure with the physical model and sports performance, carry out the kinematics and dynamics simulation; through the simulation we get the end of the manipulator pose and velocity of each joint curve and torque curve, through observation and analysis of simulation results verify the structural design is reasonable and feasible.Chapter 4, according to the operational requirements,selects the robot structure for the two point turn chute lever-type structure, through the fingers of the mechanical analysis and capture the error analysis shows that the gripper design is reasonable, through the ANSYS analysis, get the results of the stress and strain, its structure is optimized to achieve the best of the crawl results; telescopic hydraulic cylinders are calculated in detail and select the type. The position control system is simulinked, the stability is improved by adding of PID control. Swing arm on the finite element analysis and optimization design study, the optimized stability is greatly increased. Finally, design a hydraulic control circuit according to the mechanical hand movements, provides a reference for the control system.Chapter 5 designs the control system of a robot, according to the process of the robot moves, choice of the soft PLC controller,show a simple introduction to the PLC structure and working principle, and then according to the work requirements determined of input and output points, select the controller model To establish a total program structure diagram, and then design an automatic control program ladder, and joined in the program PID control, gives the ladder of PID control subroutine, and finally with a small programmer to debug,the simulation results show that the robot trajectory and stability in accordance with the work scheduled to meet the design requirements.Chapter 6 concludes the text, reviewed the main work, and summarized the results of research, presented the whole system and some shortcomings and recommendations.