三自由度机械手的步进伺服控制

Step-servo control for a manipulator with three degrees of freedom

机械手作为前沿的生产自动化设备,可以执行单调往复或高精度的工作,要求机械手定位精度高、速度快,并且具有一定的承载能力.本文介绍了一种通过PLC使用步进电机和伺服电机驱动三自由度机械手的一种解决方案,使机械手实现三自由度运动,且定位快速、准确.

As a forefront automatic production equipment, manipulator can perform monotone reciprocating or highly preci- sion work, and it is required to have a high positioning accuracy, fast velocity, and a certain bearing capacity. A solution to having the manipulator realize a fast and accurate motion in three degrees of freedom through a PLC step-servo control is presented in the paper