Design And Development Of Robot High Precision Automatic Adhesive System

Aiming at the high-precision automatic bonding requirements of hard and brittle materials,the thesis is focused on the design,precision compensation and control system development of high-precision automatic bonding equipment using a planar multi-joint SCARA robot.The results of the thesis are as follows:First,the detailed mechanical design of the equipment has been completed according to the requirements analysis for high-precision automatic sticking.A planar multi-joint SCARA robot is adopted in the equipment,an automatic blanking mechanism and a base board automatic loading and unloading conveyer have been designed in Soild Works software,and then the specific workflow of the system has been planned.Secondly,for the high-precision operation requirements,a specific mechanical structure and control logic have been developed to increase the repeatability of material pickup from a fixed position;the initial position of the robot has been calibrated based on symmetrical error measurement.Since the nonlinear transmission error of the harmonic reducer has a great influence on the positioning accuracy of the robot,the nonlinear error curves of the upper arm and the lower arm has been measured by the laser tracker and compensated in the joint space,which greatly improves the positioning accuracy of the robot and lays a necessary technical foundation for high-precision material bonding.Finally,the Turbo PMAC Clipper motion control system has been used to construct a high-precision automatic bonding control system.According to the process of automatic bonding,the robotic kinematics and logic control software has been developed based on the PMAC script language.Based on the Lab VIEW environment,the human-computer interaction interface including the software interface,manual control interface,I/O debugging interface,parameter setting interface and other application software functions have been developed.The prototype of the automated equipment based on SCARA robot has been developed,which brings high-precision and high-efficiency.The proposed method in structural design,accuracy calibration and control system development has been tested on the prototype.