The Design Of The Monitoring System Of Industrial Robot Based On OPC And The Fatigue Life Prediction Of The Arm

With the development of modern industrial automation technology, the speed of manufacturing integration and automation is faster and faster, industrial robots will play an increasingly important role. The research object of this paper is MOTOMAN-HP20 industrial robot, focusing on the design of robot monitoring system and the research of fatigue life prediction of mechanical arm.The first part of this paper is to design six degrees of freedom industrial robot monitoring system, which use the configuration software Win CC as a PC monitor, collecting relevant parameters of the robot based on OPC. Rreal-time parameter information robot will be displayed in the monitoring system eventually. First, the software Win CC as a server, adding the OPC driver to connect to the robot controller PLC based on OPC, to collect robot end position and attitude information. Then, the inverse solution of robot from MATLAB will be sent to the Win CC OPC server to display the robot’s vector angle and speed information on the host computer. Because of the robot kinematics solving operation in Win CC is difficult, the MATLAB software is introduced. According to the inverse kinematics equations of the robot, the joint angle information of the robot can be obtained. At the same time, using the Robotics Tool functions which in MATLAB toolbox to draw the real-time 3D model of the robot. Next, the MATLAB files is converted into an executable file, embedded the monitoring system, to realize 3D visualization monitoring. Finally, using C language scripts complete the design of industrial robot monitoring system in the configuration software Win CC. Visual monitoring system includes displaying the position and angle information real-time, showing the trend component of each position, archiving monitoring system process values of real-time and historical data, displaying alarm system. The system link Win CC with PLC and MATLAB effective by OPC, enabling communication between the monitoring system in each module.The second part is the fatigue prediction of the robot arm. In this paper, 3D model of the robot arm is design in the Pro/e software, and the model is simplified in order to facilitate the finite element analysis. Then, the model is intr oduced into the finite element soft ANSYS, and the results of the stress distribution of the robot arm is obtained through the steps of material property setting, dividing mesh, loading and postprocessing and so on. Finally, according to the S-N curve of the material and stress result, the fatigue life prediction of the small arm of the robot is made by using the Fatigue module in ANSYS. It is concluded that the minimum life of the mechanical arm is 4.6×10~5, which is the joint with the big arm.