Development of adaptive industrial robot control scheme

Contents

Paper

Contents

Introduction

1 Development of diagram of automatic control system

1.1 Structural synthesis of RTC control of assembly from two parts

1.2 Verbal algorithm of operation of automatic control system

1.3 Formalization of algorithms with transition graph

1.4 Synthesis and optimization of RMS control system diagram

1.5 Selection of elements of missile control system diagram

2 Development of schematic diagram

2.1 Interface Selection

2.2 Time Delay Management with Timer

3 PCB Design

4 Power Supply Calculation

4.1 Transformer calculation

4.2 Rectifier calculation

4.3 Stabilizer calculation

Conclusion

List of used literature

Introduction

Adaptive industrial robots (RRs) represent a new degree of development of robotics, which is characterized by the creation of flexible programmable devices equipped with sensitive means to obtain information about the environment, object of production and the state of the mechanisms of the robot. Adaptive robots are designed to work in conditions with previously unknown changes in the environment to which they must adapt. There are many intensive scientific, technical and organizational problems in the development of adaptive ARs. associated with the creation of a wide range of specialized sensors and devices for environmental research and display, microprocessor systems for processing received information and their use for controlling operation of robots; programming the processes of perception and response to the obtained information in real time, higher reliability and durability, improved metrological characteristics, etc.

To give the robot new qualities, it is necessary that it has the ability to instantly perceive the external environment and can use it to automatically generate signals for controlling the movement of its manipulators in order to fulfill the technological task embedded in its memory.

The adaptive robot is a fundamentally new production machine with great capabilities. Among the main functions performed by adaptive robots are the functions characteristic of a person in the process of his work, namely: perception of the external environment using "sensory organs" (technical means of sensitivity), "reflection" and decision making (microprocessor processing of information), active influence on the external environment by "hands" (manipulators).

The variety of automation processes determines a very large number of parameters to be measured during the operation of the adaptive robot. The main parameters include linear and angular movements of the robot mechanisms, forces and moments arising in them, distances between the robot grip and the object, the position and speed of motion of the grip, signs of presence, dimensions, temperature, shape, color of parts, etc. Additional measurement parameters can be gaps, skews, slips, internal defects, material or coating thickness, hardness, stresses, area, orientation relative to reference point or axes, and many others.

The use of adaptation elements is required for all typical technological operations, such as painting, welding, stamping, machining, quality control, transportation, assembly, etc. The relevance of adaptation increases significantly with the complication and increase in cost of the production facility, when working in aggressive media, as well as when exposed to various influencing factors - mechanical and climatic loads, biological and special media, ionizing and electromagnetic radiation.

The development of adaptive PR led to the creation of numerous sensors of force and tactile sensitivity, internal information about the parameters and state of the manipulator, vision systems (STZ), location rangefinders, etc. Recently, adaptive PR control systems have received significant modernization.

A synthesis of such material with an illustration of practical experience in the application and specific designs of adaptive AVE is of undeniable interest at this stage of rapid development of production automation.

2 Development of schematic diagram of automatic control system 1

The development of the schematic electrical circuit is carried out at the schematic design stage and represents a higher level of synthesis of the electronic device than the level of synthesis of the structural circuit. While the block diagram is a set of formal models of functional parts of an electronic device, the circuit diagram is a set of electrical models of these parts.

The schematic diagram is synthesized according to the structural diagram of the electronic device based on the analysis of the requirements of the technical specification, as well as the requirements imposed by the developer for each functional element.

2.1 Interface Selection

When designing microprocessor control systems, the solution to the interface problem is important. It is related to the need to implement the interface, both internal components, and the connection of external interface devices of various purpose and principle of operation. No less important is the problem of combining microprocessors and computers into multi-systems.

The interface is a set of rules that establish common principles of interaction between computer devices, some protocol of unambiguous interfacing of used micro computers and microprocessors, and peripheral devices of various degrees of complexity, providing information, functional, electrical and structural compatibility of internal and external devices of control systems based on complex hardware and software and unified communication lines.

External devices can be connected to the computer in four ways to the corresponding four types of standard external interfaces: through the system trunk or bus, through the parallel interface, through the serial interface, through the universal serial USB bus.

In our case, the most acceptable is a parallel interface, since the board is installed in the chassis, the complexity of the device is limited, and the proximity to the computer nodes leads to a high level of electromagnetic fields. It is obvious that exchange in a parallel format is easier than in a serial format. The parallel interface is widely used when connecting external devices due to its ease of interface and ease of programming. There are indeed a number of limitations associated with a small number of signal lines and the limited ability to program it.

The main advantage of the parallel interface is hardware independence. An important advantage is the ease of programming at any level. Most top-level programming languages have a procedure for interacting with a parallel interface.

Conclusion

In the course of this course project, the algorithm of the operation of the control system of the adaptive industrial robot 1 was verbally described, on the basis of this description a state graph was compiled, according to which logical expressions of reset and setting for each trigger of the control system of the ATM 1 were compiled. After that, the control system circuit was synthesized and optimized, after which the circuit elements were selected. Then, based on the obtained logical expressions for the secondary variables, we simulated the logic in the Electronic Work Bench 5.12 environment and checked the correctness of the state graph. Then, a printed circuit board was designed according to the resulting logic. Thus, using the control system obtained, it is possible to control pneumatic drives of an adaptive industrial robot, according to a predetermined cycle of operation, through an interface unit from a computer.

As a result of the completed course work, the acquired knowledge on circuit engineering was also fixed and systematized.