Research On Teach Arm System Of Robot

The increasing complexity of industrial robot teaching task, which leads to the teaching task heavy, and the increasing simpleness to operation requirements, led to the outstanding contradiction between the application and operation. Therefore, this paper developed a set of industrial robot teaching arm system, which has 6 degree serial light no-drive mechanical arm, dragged by people to simulate the part maching path. It has good universality, and can help people complete teach task simply, rapidly and easily.First of all, the Mechanical structure of teaching arm is designed. On the basis of determining configuration of teaching arm, teaching arm bar parameters i s primarily determined by friendly human-machine interaction principle. Teach arm forward kinematics model is established, and by analyzing its working space, teaching arm final parameters is determined, and according to the teaching requirements, appropriate materials is selected. Waist turning parts, upper arm parts, lower arm parts and wrist is primarily designed forearm pitch big arm.Second, research on the teaching method through the kinematic analysis and simulation. Work principle of teaching arm is analysed. Combined with establishment of forward kinematics model for teaching arm and inverse kinematics for robot model, the teach and playback end track map is realized in case of workpiece moving or stated still. Fundamental cause of many solutions to inverse kinematics is analysed, and configuration number analysed method is proposed to accomplish teach and playback path corresponding in position under joint space, and simulation on the concrete tasks is carried out. For the trajectory containing singular position and pose, singular configuration is analysed, and how to teach this kind of trajectory is accounted, hence reduce much trajectory planning work. For inverse kinematics solution of trajectory including singularity which has larger calculation error near singular point, threshold-judge crossed inverse kinematics solution algorithm is proposed based on software programming of MATLAB, thus improving corresponding terminal trajectory precision of inverse kinematics solution.Third, to some telated problem of path data collecting and processing, hardware is analysis and software is written. Hardware design of data acquisition system and software of data acquisition and simple processing which converts absolute signal of encoder to corresponding joint angle is realized. Teaching interactive software is programed, and combined with data system processed information, discrete point teaching, continuous trace teaching and deep path processing is accomplished by programming, besides, layout of interactive interface is set. Simulation and trace processing is done for specific task.Finally, combining with the structure design of teaching arm, teaching method, hardware and software for collecting and processing path, robot teaching arm system experiment platform is set up. Simple and complex spraying experiment are done with the aid of teaching methods and interactive software. The spraying effect is evaluated, and the cause of uneven of spray is analysed. In general, the robot playbacks the trajectory taught by the teach arm, and satisfies the experiment requirements and lay a foundation for further the research of teach robot by teaching arm.