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The Design And Working Principle of Two-axis Linkage Positioner

Views: 266     Author: Site Editor     Publish Time: 2024-05-23      Origin: Site

The double-axis linkage positioner designed by the project consists of 2 sets of servo motors and reducer, the structure is shown in Figure 2. Kuka MGU0800-118,5-ME servo unit is selected for E 1 axis, Kukamgu 0420-118,5-ME servo unit is selected for e 2 axis, two axes are placed vertically. The unit is driven by a maintenance-free AC servo motor, uses a gap-free transmission module and an absolute encoder, and is equipped with a brake and a temperature monitoring safety device. Robot Control Cabinet selection Kuka C 4 standard cabinet, Cabinet Kuka Servo package KSP and KUKA Power package KPP. In addition to the control body 6 axis, the device also reserved 2 axis of the control and drive interface, used to control and drive the positioner 2 axis. If you need to configure more axes or make room for subsequent expansion, consider using an expansion control cabinet with additional KSP, KPP, and RDC modules.

When the positioner is in the initial position, the workpiece disc of the positioner is on the top and parallel to the base, and the zero position of the two axes can be determined. In the positioner coordinate system, the origin of the base coordinate system { R } is located at the midpoint of the side and bottom edge of the E 1 axis of the positioner base The origin of the coordinate system {0} is chosen at the intersection of the Z axis of the base coordinate system and the E 1 axis The origin of the coordinate system {1} is chosen at the intersection of the axes of E 1 and E 2. The direction of the Z axis is right along the E 1 axis, and the X axis is perpendicular to the outer direction of the z axis paper The origin of the coordinate system {2} is chosen at the intersection of the E 2 axis and the plane of the workpiece disc, that is, the center of the disc plane, the direction of the Z axis is the direction of the E 2 axis, and the X axis is perpendicular to the outer direction of the z Axis paper. Table 1 connecting rod parameters of positioner can be obtained according to the established coordinate system and structural parameters of positioner. According to the connecting rod transformation formula, the transformation matrix i-1iT between { I } and { I-1} coordinates can be obtained, it is also easy to obtain the transformation matrix R0T of coordinate system {0} relative to the coordinate system { R } of the positioner and the transformation matrix 2ST [3] of the workstation coordinate system { S } relative to the coordinate system {2} .

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