"工业机械手设计与控制技术研究"

In today's large-scale manufacturing industry, enterprises are increasingly focusing on the automation of production processes in order to improve efficiency and ensure product quality. Industrial robotic arms are becoming more widely accepted and adopted as important members of automated production lines. The technological level and application of industrial robotic arms to a certain extent reflect a country's level of industrial automation. Currently, industrial robots mainly undertake important and labor-intensive tasks such as welding, painting, handling, and stacking, with programming typically done online. This paper will design a four-degree-of-freedom industrial robotic arm for transporting materials to punching equipment. Firstly, the paper will design the structure of the industrial robot, including the base, hand, wrist, and arm. Then, suitable transmission methods and driving methods will be selected to build the structural platform of the industrial robot. On this basis, the paper will design the control system of the robotic arm, including the selection of data acquisition cards and servo amplifiers, feedback methods and elements, design of terminal board circuits, and control software. The focus will be on enhancing the reliability of the control software and the safety of the robotic arm operation. The ultimate goal is to achieve servo control and real-time detection of joint brake problems, monitor the motion of each joint of the robotic arm, program and modify the robotic arm through teaching, set reference points, and return reference points. Keywords: robotic arm; programming by teaching; servo control; brake.