Simulation Analysis And Control Research Of Loading And Unloading Material Truss Robot

As the manufacturing industry continues to move toward the direction of intelligent manufacturing,truss robots,which are one of the applications for loading and unloading in industrial robots,have become an indispensable part of the intelligent flexible production line.In this paper,the finite element analysis,electromechanical joint simulation and control research and experiment are combined for the research of the loading and unloading truss robot.The main research contents are as follows:Firstly,the overall structure of the truss robot is designed for the control requirements and working methods of the loading and unloading truss robot in the automated production line.Then based on the SolidWorks-Workbench platform,the static simulation analysis and modal analysis of the two typical working conditions of the truss robot are carried out.The simulation results show that the designed truss robot meets the strength and stiffness requirements and can adjust the running speed of the robot to keep the excitation frequency as far away as possible from the natural frequency of the structure to avoid resonance.Secondly,in order to achieve better control effect of the truss robot control system,the fuzzy PID controller is designed.Then,based on the fuzzy PID control algorithm,the control system model of the truss robot is established in MATLAB/Simulink,and the ADAMS virtual prototype technology is utilized.The established mechanical model of the truss robot is connected with its control model to realize the electromechanical co-simulation of the truss robot.The simulation results show that the truss robot system based on fuzzy PID control algorithm has good motion characteristics,and lays a foundation for the design and commissioning of the truss robot physical prototype control system.Thirdly,the whole control system of the truss robot adopts the control structure of PLC+HMI.According to the control requirements,the hardware selection design is carried out,and then the circuit diagram design is carried out by using Protel99 SE software,and then according to the circuit diagram using inovance PLC programming software AutoShop for robot control system PLC modular programming,at the sametime adopt inovance interface editing software InoTouch Editor to design the control system of the man-machine interface,and simulation debugging and off-line simulation are carried out to verify that the designed program is reasonable.Finally,experimental research shows that the truss robot system designed in this paper can not only control the operation of the robot with high speed and high precision(operating speed up to 120m/min,repeat positioning accuracy is ± 0.1mm),and can monitor the running status of the robot in real time.It embodies the superiority of its control performance and meets the expected control requirements.Therefore,the entire loading and unloading truss robot system established in this paper provides a good solution for the application of automated production lines.