Journal of Textile Research ›› 2022, Vol. 43 ›› Issue (03): 160-167.doi: 10.13475/j.fzxb.20210402708

• Machinery & Accessories • Previous Articles     Next Articles

Research on integrated design method of robot intelligent joint drive and control structure

MO Shuai1,2(), ZHOU Changpeng1, LI Xu1, YANG Zhenning1, LIU Huihua3, GAO Hanjun4   

  1. 1. School of Mechanical Engineering, Tiangong University, Tianjin 300387, China
    2. Tianjin Key Laboratory of Modern Electromechanical Equipment Technology, Tianjin 300387, China
    3. Dongguan Desheng Intelligent Technology Co., Ltd., Dongguan, Guangdong 523000, China
    4. State Key Laboratory of Virtual Reality Technology and Systems, Beihang University, Beijing 100191, China
  • Received:2021-04-09 Revised:2021-10-11 Online:2022-03-15 Published:2022-03-29

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Abstract:

In order to reduce the space occupied by textile robot and to improve its control performance, a new type of textile robot waist joint used for doffing management was designed, which used a brushed DC motor as the power source, STM32F103T8U6 as the main control chip, and L9110S as the driving chip. The magnetic encoder AS5600 and a magnet installed at the end of the output shaft was used together to generate the Hall effect to facilitate the speed and position detection of the robot joint. By comparing the corresponding speed and current of the single-speed closed-loop control with that of the double closed-loop control, this research adopted the speed and current double closed-loop proportional integral (PI) control system for speed regulation in the control algorithm, and the controller area network (CAN) bus method was used to achieve signal transmission so as to reduce the complexity of multi-joint wiring. The experimental results show that the designed robot can effectively reduce the joint volume with the miniaturization design, and has a wider range of use. Compared with the single closed-loop control system, the double closed-loop control system shortens the steady-state time by 30%.

Key words: textile robot, robot waist joint, brushed DC motor, double closed-loop control, CAN bus

CLC Number: 

  • TP242

Fig.1

Flow chart of design of waist joint of robot"

Fig.2

Block diagram of hardware system"

Fig.3

Circuit diagram of current acquisition module"

Fig.4

Control program flow chart. (a) Control board flow chart; (b) Drive board flow chart"

Tab.1

Motor parameter"

参数 数值 参数 数值
额定电压/V 7.4 反电动势系数/
(V·s·rad-1)		 0.019 3
额定电流/mA 400 电磁时间常数/ms 2.516
额定转速/
(r·min-1)		 17 600 机电时间常数/ms 15.1
电枢电阻/Ω 0.368

Fig.5

Robot waist drive joint. (a) Front view;(b) Rear view"

Fig.6

Driver board integrated circuit diagram. (a) Front view; (b) Rear view"

Fig.7

Physical map of waist joint of robot. (a) Transmission system; (b) Drive board; (c) Entity"

Fig.8

Experimental hardware connection diagram"

Fig.9

Motor response of different control schemes under rated conditions. (a) Single speed loop control speed;(b) Single speed loop control current; (c) Speed control with cut-off current speed loop; (d) Speed and current double closed loop control speed; (e) Speed and current double closed loop control current; (f) Speed comparison between speed loop with cut-off and double closed loop"

Fig.10

Motor response at different speeds. (a) Motor speed; (b) Motor current"

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