Robotic Arm Operation Planning And Compliance Control For Equipment Maintenance

Nowadays,with the acceleration of China’s automation process,the maintenance requirements for various equipment are becoming more and more important,some of the automation of equipment that can only be maintained manually has gradually been concerned by researchers,these difficult to achieve automation equipment often has the following characteristics: first of all,there are some equipment larger volume,deep maintenance span,no perfect maintenance standards,and its maintenance process is more dependent on personal experience.Secondly,there are some shaft holes and other holes that need to be assembled in the equipment maintenance process,which requires automatic maintenance equipment to have a flexible type,and finally these equipment are often not widely used,and the cost of developing maintenance equipment for this equipment may be much higher than the labor cost,and the gain is not worth the loss.Six-axis robotic arm is a kind of robot that imitates human arm for operation,compared with labor,six-axis robotic arm has high reliability,good stability,high flexibility,high precision and low safety cost,but also has a certain degree of compliance,can be well qualified for a variety of equipment maintenance tasks,is the first choice to solve the problem of special equipment maintenance automation.This paper mainly studies the role of industrial six-axis robotic arms in the maintenance process of several types of special equipment from the following three aspects:(1)Due to the complexity of the working environment,a six-axis robotic arm with high reliability is selected to complete the kinematic modeling of the six-axis robotic arm and solve the analytical solution of the six-axis robotic arm.(2)Research on the repair and maintenance of large-scale equipment such as ski jump,the research content mainly includes summarizing the characteristics and difficulties of this large-scale special equipment in the maintenance process,fitting a special path that meets the maintenance requirements according to the characteristics of the ski jump,and planning a trajectory that meets the requirements of the robotic arm operation for the path.(3)Select the appropriate compliance control method for the requirements of shaft hole assembly that occur during the maintenance of some equipment,and complete the operation requirements of shaft hole assembly in order to avoid irreparable damage when the robotic arm is in contact with the environment.