四自由度工业机器人设计与控制系统研究
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Abstract: In today's large-scale manufacturing industry, enterprises pay more attention to the automation level of production processes in order to improve production efficiency and ensure product quality. Industrial robots, as important members of automated production lines, have been gradually recognized and adopted by enterprises. The technological level and application of industrial robots to a certain extent reflect the level of industrial automation in a country. Currently, industrial robots mainly undertake repetitive and labor-intensive tasks such as welding, spraying, handling, and stacking, with a teaching-reproduction work mode commonly used. This paper will design a four-degree-of-freedom industrial robot for transporting materials to stamping equipment. Firstly, the paper will design the structure of the robot's base, main arm, secondary arm, and end effector, select appropriate transmission and drive modes, and build the structural platform of the robot. Based on this, the paper will design the control system of the robot, including the selection of data acquisition cards and servo amplifiers, feedback methods and feedback elements selection, terminal board circuit design, and control software design. The focus will be on enhancing the reliability of the control software and the safety of the robot's operation process. The ultimate goal is to achieve servo control and braking of the joints, real-time monitoring of the motion of each joint of the robot, teaching programming and online program modification of the robot, setting reference points and returning to reference points. Keywords: Robot, Teaching Programming, Servo, Braking
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