Overhauling of a ASEA Robot IR6 with Open Architecture

摘要

Industrial robot retrofitting usually applies specific solutions for each type and size of robots. This work aims create universal control cabinet to get one interface with computer (PC) and the manipulator (arm, motors and position sensors), following worldwide tendencies of standardization in automation and control systems. In this system, the PC runs the trajectory generation program and sends actuators set-points over a parallel port connection. The cabinet synchronizes the joints' movements and returns to the PC the actual position of each axis. The retrofitting is to match the new robot technology by leveraging existing systems such as motors, sensors, feedback, power supplies and so on. The initial idea was to reduce costs, but we can not ensure the reliability of these used parts without knowing the historic of the same. For example, a motor used for decades until when will it work? There is not how offer guarantees of a robot, if we do not know the probability of failure of their systems. To solve these problems was introduced the concept of overhauling. In this new design only mechanical part of the old robot would be used, due to the fact that the exchange of electronic and electromechanical components do not greatly increase the cost of adaptation to new technologies.