Industrial robots involve technology – KUKA robots

Robot manipulator structure

Through the application of modern planning methods such as finite element analysis, modal analysis and simulation planning, the optimization planning of the robot operation organization is completed. Explore new high-strength, lightweight materials to further improve the load/weight ratio. For example, the robot company represented by the Germany KUKA company has changed the parallel parallelogram structure of the robot to the open chain structure, expanding the working range of the robot, coupled with the use of lightweight aluminum alloy materials, greatly improving the function of the robot.

In addition, the advanced RV reducer and communication servo motor are selected, so that the robot manipulator is simply a protection-free system. The organization is moving towards modularity and reconfigurability. For example, the servo motor, reducer, and detection system in the joint module are integrated; The robot is constructed by the joint module and the connecting rod module in a recombination way; Modular installation robot products have been put on the market abroad. The structure of the robot is becoming more flexible, the control system is getting smaller and smaller, and the two are moving towards integration. The selection of parallel organization and the use of robot skills to complete high-precision measurement and processing are the expansion of robot skills to CNC skills, which lays the foundation for the integration of robots and CNC skills in the future.

Robot control system

Open, modular control system. It is carried out in the direction of an open controller based on a PC, which is convenient for standardization and networking; The integration of devices has progressed, and the control cabinet is becoming smaller and smaller, and the modular structure is selected; The reliability, ease of operation and repairability of the system have been greatly improved. The function of the control system has been further improved, and it has been developed from the standard 6-axis robot in the past to the current ability to control 21 or even 27 axes, and has completed the software servo and full digital control. The human-machine interface is becoming more and more friendly, and the verbal and graphical programming interfaces are under development. The standardization and networking of robot manipulators, as well as the networked manipulators based on PCs, have become a hot topic of discussion. In addition to further improving the operability of online programming, the practical application of offline programming will become the focus of research, and the practical application of offline programming has been completed in some areas.

Industrial robots involve technology – KUKA robots

Industrial robots involve technology – KUKA robots

Robot sensing skills

In addition to the traditional position, speed, acceleration and other sensors, the installation and welding robot also uses laser sensors, visual sensors and force sensors, and completes the active tracking of the weld seam and the active positioning of objects on the automatic production line and fine installation operations, which greatly improves the operation function of the robot and the adaptability to the environment. The remote-controlled robot uses the fusion skills of multiple sensors such as vision, sound, force, and touch to model the environment and make decisions. In order to further improve the intelligence and adaptability of robots, the use of multiple sensors is the key to their problem solving. The research focus is on effective and feasible multi-sensor fusion algorithms, especially in the case of nonlinear, non-stationary and non-normal distribution. Another issue is the practical application of sensing systems.

Network communication function

The latest robot manipulators of YASKAWA in Japan and KUKA in Germany have completed the connection with Canbus, Profibus bus and some networks, making the robot a big step from independent use to network use, and also making the robot from the past special equipment to standardized equipment.

Robot remote control and monitoring skills

Welding or other operations in high-risk environments such as nuclear radiation, deep water, and toxic require remote-controlled robots to replace human work. The development of today's remote control robot system is not the pursuit of a full autonomous system, but is committed to the human-computer interaction control between the operator and the robot, that is, the remote control plus local autonomous system constitutes a complete monitoring and remote control operation system, so that the intelligent robot out of the laboratory into the practical stage. The Sojana robot launched into Mars by the United States is the most famous example of the successful use of this system. The coordinated control between multiple robots and operators can establish a large-scale robot remote control system through the network, and establish a pre-appearance for remote control in the case of time delay.

Virtual robotics skills

The role of virtual reality skills in robots has evolved from simulation and rehearsal to process manipulation, such as enabling remote control robot operators to feel like they are in a remote working environment to manipulate robots. Based on multi-sensor, multimedia and virtual reality, and presence skills, complete virtual teleoperation and human-computer interaction of robots.

Robot function price ratio

The functionality of robots continues to improve (high speed, high precision, high reliability, ease of operation and repair), while the price of a single machine continues to fall. Because of the rapid development of microelectronics skills and the use of large-scale integrated circuits, the reliability of the robot system has been greatly improved. In the past, the reliability MTBF of the robot system was generally several thousand hours, but now it has reached 50,000 hours, which can meet the needs of any occasion.

Multi-agent control skills

This is a new category of robotics research now. This paper mainly discusses the group architecture, mutual communication and consultation mechanism, perception and learning methods, modeling and planning, and group behavior manipulation of multi-agents.

Industrial robots involve technology – KUKA robots

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