论文部分内容阅读
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 the continuous application of industrial robots in related tests such as auto parts, industrial robots using position control alone have not been able to meet the application requirements of control and monitoring force in the testing of some automotive components. In this paper, a robot force control system based on force sensor is developed. The system is based on IRB4600 robot and consists of three-component force sensor, force sensor amplifier, analog input terminal module, DeviceNet bus coupler and industrial computer. The system has the force closed loop control and monitoring functions, according to the feedback of the force value can adjust the robot’s attitude to meet the test requirements. Through the analysis of the results of the seat strength durability test, the system can meet the requirements of automotive parts testing in robot force control.