Design of Control System Based on Dual Robot Grinding Platform
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摘要: 根据轮毂的结构特点，采用“分类分区”的策略对轮毂不同区域制订打磨方案. 重点对打磨空间受限且打磨轨迹复杂的轮毂孔端面区域，提出一种基于双机器人协作打磨的方案，并对双机器人协作控制系统进行详细地设计与介绍. 采用基于模型设计的方法完成双机器人控制系统的设计与开发，并进行机器人打磨轨迹跟踪和轮毂恒力打磨试验. 试验结果表明：一台dSPACE控制器可以实现双机器人控制，完成打磨轨迹跟踪且打磨接触力误差在±5 N范围内，满足轮毂打磨需求.Abstract: According to structural characteristics of wheel hub, the strategy of “classification and division” was adopted to formulate the grinding plan for different areas of the wheel hub. Focusing on the end face area of the hub hole with limited grinding space and complex grinding trajectory, a plan based on dual-robot collaborative grinding was proposed, and detailed design and introduction of the dual-robot collaborative control system were conducted. The design and development of the dual-robot control system were completed by the method of model-based design, and the robot grinding trajectory tracking and the wheel constant-force grinding experiment were carried out. The experimental results show that a dSPACE controller can realize the control of the dual robots, complete the grinding trajectory tracking and the grinding contact force error is within ±5 N, which will meet the needs of wheel grinding.
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Key words:
- dSPACE controller /
- wheel hub /
- dual robot /
- force level hybrid control
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图 1 轮毂打磨“分类分区”示意图
Figure 1. Schematic diagram of wheel hub grinding classification partition
表 1 机器人D-H参数表
Table 1. Robot D-H parameter list
编号$i$ ${\alpha _{i - 1}}$ / rad ${a_{i - 1}}$ / mm ${\theta _i}$ / rad ${d_i}$ / mm 1 0 0 ${t_1}$ ${H_b}$ 2 $ - {\text{π}} /2$ ${L_0}$ ${t_2} - {\text{π}} {\rm{/2}}$ 0 3 0 ${L_1}$ ${t_3}$ 0 4 $ - {\text{π}} /2$ ${L_2}$ ${t_{\rm{4}}}$ ${L_3}$ 5 ${\text{π}} /2$ 0 ${t_{\rm{5}}} + {\text{π}} /2$ 0 6 $ - {\text{π}} /2$ 0 ${t_{\rm{6}}} + {\text{π}} $ 0 
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