Combined simulation method for die-casting mould pick-up manipulator

A co-simulation and manipulator technology, applied in simulators, instruments, control/regulation systems, etc., can solve problems such as inability to achieve manipulator trajectory tracking, large impact on picking accuracy, and inaccuracy, and achieve good trajectory tracking characteristics and fast speed. Effects of Response Features

Inactive Publication Date: 2018-05-04
GUIZHOU UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Combined Machine Tool and Automated Processing Technology, 2012(3):50-53) established the model of the three-degree-of-freedom manipulator by using the virtual prototype co-simulation method of ADAMS and MATLAB, and carried out the simulation. The trajectory tracking of the manipulator cannot be realized by the above. Accurate, the overall vibration of the manipulator has a greater impact on the accuracy of the pick-up

Method used

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  • Combined simulation method for die-casting mould pick-up manipulator
  • Combined simulation method for die-casting mould pick-up manipulator
  • Combined simulation method for die-casting mould pick-up manipulator

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Experimental program
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Embodiment

[0031] Embodiment: A method for co-simulating a die-casting mold pick-up manipulator, the method comprising the following steps:

[0032] (1) Establish a simplified model of the manipulator structure;

[0033] (2) Mechanical dynamics simulation: define the material properties and moment of inertia properties of each part of the manipulator, set the corresponding kinematic pair and motion drive function of the manipulator, and use Adams to perform mechanical dynamics simulation;

[0034] (3) The simulation results are consistent with expectations, and the control dynamics co-simulation is carried out;

[0035] (4) Import the dynamic model of the manipulator in Adams into the SIMULINK module of Matlab, and use it as the mechanical sub-model of the control system, and establish a joint simulation model;

[0036] (5) ADAMS establishes the mechanical model of the co-simulation system and adds external loads and constraints, and MATLAB / Simulink establishes the control part of the c...

specific Embodiment

[0042] Specific embodiments: According to the actual environment and working condition requirements of the enterprise in the production process, the overall model of the manipulator is firstly designed. In order to facilitate the simulation analysis in the later stage and improve the simulation efficiency, the designed manipulator model must be simplified to a certain extent. For example, some parts that do not affect the overall movement of the manipulator or have little influence on the manipulator movement can be weakened and ignored. The simplified manipulator model includes a total of five kinematic pairs, four of which are revolving pairs and one is a ball screw pair (in the simulation, it is simplified as a moving pair between the guide rail and the slider), and the simplified model is in Generated in UG, such as figure 1 shown.

[0043] The simplified model retains the main structural dimensions of the manipulator and the design parameters of the main components. The...

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Abstract

The invention discloses a combined simulation method for a die-casting mould pick-up manipulator. According to the method, firstly, aiming at the main structure of a pick-up manipulator produced by adie-casting mould, the structure size of a main part and the overall working space of the manipulator are determined. Secondly, based on the combination of the structure dynamics and the control dynamics, a PD controller of each joint is established. In this way, the main control parameters of a control system are obtained. Finally, the simulation optimization is carried out on the established parameters of the controller. The parameters of the controller, after the simulation optimization, are applied to a motion controller of the manipulator. The test shows that, the manipulator system is better in trajectory tracking characteristics and fast response characteristics by adopting the parameters of the controller after the simulation optimization. As a result, the method provides a foundation for the accurate control of the trajectory of the manipulator in the later stage.

Description

technical field [0001] The invention belongs to the technical field of manufacturing optimization of a die-casting mold pick-up manipulator, and in particular relates to a combined simulation method for a die-casting mold pick-up manipulator. Background technique [0002] In the die-casting production process, in order to save costs, improve production efficiency, and realize automatic production, enterprises have an increasing demand for various manipulators. The manipulator is a complex system of electromechanical and hydraulic mixing, and the traditional mechanical design methods cannot meet the requirements in terms of structure design and control system design. [0003] The document "Research on ADAMS / MATLAB Co-simulation of 7-DOF Manipulator" (Chen Gang, Zhou Qicai, Wu Jing, Yan Nan. Journal of System Simulation, 2017, 29(1):99-106) carried out a 7-DOF manipulator The joint simulation research based on ADAMS and MATLAB is carried out, and the dynamic response characte...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B17/02
CPCG05B17/02
Inventor 梅益刘闯朱春兰孙全龙
Owner GUIZHOU UNIV
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