摘要
随着工业机器人在汽车零部件等相关试验中的应用不断深入,单纯使用位置控制的工业机器人已无法满足某些汽车零部件试验中控制力和监测力的应用要求。本文研制了一种基于力传感器的机器人力控系统,该系统是以IRB4600机器人为平台,由三分力传感器、力传感器放大器、模拟量输入端子模块、DeviceNet总线耦合器和工控机等组成。该系统具有力闭环控制和监测功能,根据力值的反馈可以调节机器人的姿态来达到试验要求。通过座椅强度耐久试验的结果分析,表明该系统可以满足机器人力控制方面汽车零部件试验的需求。
With thorough application test, the industrial robots using position requirements of the monitoring force in of industrial robots in the automotive components control have been unable to meet the application some automobile components test. The industrial robot force control system based on force sensor has been developed in this paper. The system is based on the platform of IRB4600 robot ,using the three-dimensional force transducer, force transducer amplifier, analog input terminal module, DeviceNet bus coupler and industrial control computer etc. According to the feedback fore,the system having the function of force closed-loop control and monitoring can adjust the attitude of the robot to meet the test requirements.The result of seat strength durability test shows that the system can meet the requirement of the test of automobile components in robot force control.
出处
《汽车科技》
2016年第6期98-101,共4页
Auto Sci-Tech
