Design of Lightweight Robotic Arm and Its Control System Based on Intelligent Manufacturing System
The optimization of the unitization space in the intelligent manufacturing system is increasingly paid attention to,especially in the high-volume small parts manufacturing system,and the multi-functional robotic arm is an important part of the work cell of the intelligent manufacturing system,its reasonable structure and low power consumption are the inherent requirements of the entire intelligent manufacturing system.A sampling robotic arm with small mass,low power consumption,compact structure and high reliability was proposed,which is a typical working condition for the use of multi-functional robotic arms.Forward and inverse formulas were built by using D-H method.According to the intelligent manufacturing unit tasks,a control strategy which was position control in active mode and dynamic friction compensation in passive mode was designed.The physical prototype was made by simplifying joint structure,the hardware and software system of the manipulator were built.A series of job tasks such as sample acquisition and transfer,the mass as well as the power consumption were tested on sample manipulator.
smart manufacturinglightweightlow power consumptioncontrol strategy
万方数据
维普
