The Development Of Six DOF Industrial Robot System For Handling The Workpiece On The Machine

At present, the industrial robots is becoming increasingly important in the machine tool industry. The industrial robots used in production not only can increase productivity, reduce labor intensity, but also can improve product quality, shorten product life cycle and dramatically reduce costs. In industrial production, handling robot is very flexible, in particular six degrees of freedom handling robot, which has a very good flexibility. Therefore, it is possible to improve the working conditions of workers, save raw material consumption, improve product quality, accelerate the upgrading of products and improve labor productivity. In this paper, the main research work on the machine the workpiece handling robot are as follows:Six degrees of freedom of the industrial robot kinematics were studied and analyzed. It was established industrial robot space coordinates to D-H method based. Analysis shows that the mutual conversion between two adjacent coordinates relations, and deduced its transformation matrix. In the process of solving the six degrees of freedom industrial robot in forward and reverse solution, it is proposed to establish the coordinate system of the three methods depending on the number of coefficients used. Through the analysis of six degrees of freedom industrial robot forward and reverse solution can be drawn the third method is the optimal method to establish coordinate system. Positive solution and inverse solution results have been verified in solving the six degrees of freedom industrial robot forward and reverse solution process.Space trajectory planning problem of the six degrees of freedom industrial robot made research and analysis. For six degrees of freedom industrial robot made a trajectory planning analysis in Cartesian and joint coordinate space. The three and five polynomial interpolation algorithm of joint space did a simulation experiment by MATLAB software. Through the experimental results we can conclude that five polynomial interpolation algorithm can ensure that all the joint angle, angular velocity and angular acceleration are continuous of the joints during exercise, and can ensure the smooth operation of the motor. Because of this research is to point to point movement and requires high precision, so the selection of five polynomial interpolation algorithm in trajectory planning.The hardware control system for six degrees of freedom industrial robots are designed. It proposed the overall program of the hardware system and the selection of the motion controller and the servo motor in the hardware control system. The connection between the various components of the control system hardware has made a detailed description, including the connection of each part of the hardware and controller interface board, the motion controller and servo system connections, the drive external signal connections.The software control system for six degrees of freedom industrial robots are designed. It introduces the program modules, system initialization module, motion modules, teaching modules, limit emergency stop and interactive interface module in the software control system. The interactive interface of the software system, from the main interface, JOG motion control interface, teaching and playback screen, forward and reverse solution interface, the joint coordinate moving interface, Cartesian coordinates moving interface, parameter setting interface components.It establishes an experimental platform on the machine the workpiece handling six degrees of freedom of the industrial robot. It is verified the hardware and software control systems which the Googol movement is the core of the six degrees of freedom industrial robot control system. Its working principle and the process made a detailed design. And it made a detailed presentation for the electromagnetic chuck and electric control cabinet.