Application of LB series servo motor and K series servo in six axis robot manipulator

Application of LB series servo motor and K series servo in six axis robot manipulator

1  With the improvement of automation level of industrial production line, it tends to be flexible development.Industrial manipulator is more and more used in painting, packaging, welding, assembly and other production processing to Instead of the artificial to complete the work in the severe environment.In this paper, the six axis hot-dip galvanized manipulator is taken as an example. In mechanism, the six axis manipulator is designed as a 6-DOF spatial coordinate system.All six shafts are operated by servo motor with reducer. The control system of carnop robot is used to control the servo driver to complete the corresponding action. The servo driver works in the position mode, the host computer sends the position command to the servo driver, and the servo driver drives the motor to complete the corresponding action according to the command.

1.Servo requirements of six axis manipulator

The six axis galvanized manipulator is mainly composed of six sets of servo drivers and motors matched with reducer to complete the positioning and rotation of the manipulator. In addition, two sets of servo drivers and motors are responsible for feeding. Among them, axis 1, 2 and 3 are composed of ZSD-KAS20AB with 180ST-M27020 motor, axis 4, 5 and 6 are composed of ZSD-KAS20AB with 130ST-M10015 motor. 7. 8-axis is composed of ZSD-KAS20AB and 110ST-M06030 motor. All servo drivers work in position mode. Robot control system sends control signals to servo drivers and drives servo motors to complete corresponding actions. The site drawing is shown in follow:

2.Introduction to industry matching performance

The host computer is connected with the control terminal of the servo driver. The control mode is pulse + direction in the position mode. The host computer sends the position command to the servo driver. The servo driver drives the motor to complete the corresponding action according to the command. The control terminal wiring is defined as follows:

3.Application of servo in six axis manipulator

1、Servo diver and the motor configuration

2.Related parameter settings

⑴Electronic gear ratio

Control resolution according to specific application requirements

⑵Time constant of velocity loop integral

When this parameter is reduced, the speed responsiveness can be improved and the speed control error can be reduced. However, if the setting is too small, it is easy to generate vibration and noise, The greater the parameter, the less rigid it is.

⑷Velocity loop proportional gain

When the gain value is increased, the speed responsiveness can be improved. But if the setting is too large, it is easy to produce vibration and noise.

⑸Position loop gain

Increase the gain of the position loop to accelerate the system response. Reduce positioning error and shorten positioning time. However, mechanical vibration and system position overshoot may be caused by excessive vibration.

⑹Moment of inertia ratio

The ratio of load inertia and motor out of shaft inertia