Research on Design and Motion Control of 5-DOF Robot for Bending

摘要

In order to realize the automatic loading and unloading and following bending during the sheet metal bending process, this paper presents a five-degree-of-freedom bending robot to replace the worker to realize the automatic bending process. Specially as follows: Firstly, the relevant parameters of the five-DOF robot are determined, and the three-dimensional model of the robot is established based on this. Then the robot kinematics model is established by D-H method, and the kinematics and dynamics analysis of the designed five-DOF robot are performed. After that, fuzzy PID algorithm is used to optimize the motion control of the robot. Finally, the motion performance of each joint motion trajectory function of the five-DOF robot is simulated and analyzed, so as to verify the accuracy and stability of the robot motion. The simulation results show that, fuzzy PID control algorithm is well applied in the designed five-degree-of-freedom bending industrial robot servo drive system, and has a good application prospect in the field of high precision and strong dynamics of robot motion control.