电子凸轮取置机械手及其控制系统设计

Design of Electronic Cam Picking Manipulator and its Control System

针对传统凸轮机械手中的凸轮机构易磨损、输出动作缺乏柔性且运动轨迹单一等问题,提出一种新型电子凸轮取置机械手的设计方案,同时搭建了电子凸轮控制系统软、硬件平台。其中,以机械手输出凸轮机构多项式运动规律为例,推导出伺服系统输出脉冲数与从动件运动规律之间的关系;利用PMsoft软件编写程序并输出电子凸轮曲线,该曲线符合预期的多项式运动规律。根据不同生产要求,该系统可以通过更改电子凸轮的参数设置来改变输出运动曲线。为机械手输出运动过程的柔性化、轨迹的多样化提供了设计方法和实例。

Aiming at the problems such as the easy wear of the cam mechanism in the traditional cam manipulator,the lack of flexibility in the output action and the single trajectory of the movement,a new design scheme for the electronic cam picking manipulator is proposed.Meantime,the software and hardware platform of the electronic cam control system is built.Among them,taking the polynomial motion law of the output cam mechanism as an example,the relationship between the output pulse number of the servo system and the movement law of the follower is deduced.Using PMsoft software to program and output the electronic cam curve,the curve conforms to the expected polynomial motion law.According to different production requirements,the system can change the output motion curve by changing the parameters setting of the electronic cam.It provides a design method and an example for the flexibility of the manipulator output motion process and the diversification of the trajectory.