For different electroplating processes, there are many automatic electroplating production lines at present, but there is still no long-distance electroplating production line for small batches and multiple varieties of plated parts. Therefore, this paper proposes a set of orbital mobile robot systems to improve the production efficiency and quality of electroplating and reduce the uncertainty of manual control. The hardware of the system is composed of an orbital car and a robotic arm. The orbital car includes mobile positioning and a holding brake mechanism and the robotic arm adopts KUKA kr20-r2100 industrial robot. According to the logic of moving and grabbing, the control framework of the system is determined. A lot of field experiments show that the designed system can adapt to the factory environment and automatically complete the scheduling tasks assigned by the system.
Switched reluctance motors are widely used in household appliances, textile machines, electric vehicles, and other fields due to their simple structure, low cost, high reliability, high efficiency, large starting torque, and wide speed regulation range. With the continuous expansion of the application field of SRM, higher requirements are put forward for the design of the motor position servo control system. The control system should be highly accurate and easy to deploy and have strong anti-interference. Based on the traditional switched reluctance motor control method, this paper designs a feedforward control position loop and applies CVC control at low-speed conditions to optimize the accuracy, anti-interference, and torque ripple characteristics of position servo control. The simulation results prove that the design results of the servo control system are correct and effective.
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