基于Matlab的制芯机器人夹持器稳定性研究与分析

Research and analysis clamp stability of core making robot based on Matlab

由于铸造厂制芯机器人的工作环境恶劣,机器人抓取砂芯的稳定性较差,时常出现掉砂芯、夹伤砂芯的问题。针对上述问题建立以夹持器、气压、机械振动的系统数学模型,采用高阶系统极点在[s]平面的分布法来判定该系统的稳定性。在确保高阶系统极点值不变的情况下,通过改变系统的零点值来观察零点值对系统稳定性、振荡衰减时间的影响。用Matlab的pzmap和impulse函数分别对系统的零点、极点分布和零点值的不同对系统响应进行仿真,运用仿真结果与现场试验进行优化参数,结果表明采用一种刚度与柔度各为1/2的夹持器对制芯机器人的稳定性具有较好优化效果。

Because of the bad working environment of the core-making robot in foundry,the stability of the robot grasping sand core is poor,and the problems of core dropping and core pinching often occur.In view of the above problems,a mathematical model of the system with gripper,air pressure and mechanical vibration is established,and the stability of the system is determined by the distribution method of the poles of the higher order system on the[s]plane.Under the condition that the pole value of the higher order system is invariable,the influence of the zero value on the stability and oscillation attenuation time of the system is observed by changing the zero value of the system.Using the pzmap and impulse functions of Matlab to simulate the different responses of the system to zero,pole distribution and zero value respectively,and using the simulation results and field tests to optimize the parameters,the results show that the stability of the core-making robot can be optimized by using a gripper with stiffness and flexibility of 1/2 each.