基于PCI控制的关节式搬运机械手的研制

Development of Articulated Manipulator Based on the PCI Control

开发设计出具有抓取和移动工件功能关节式搬运机械手,该机械手主要由腰部、大臂、小臂和腕部四部分组成,其控制系统以DMC2410运动控制卡为控制核心控制步进电机的运行,电机带动齿轮减速器拖动执行部件动作以实现搬运机械手的旋转或俯仰动作,DMC2410运动控制卡与步进电机驱动器和限位开关连接,获取机械手爪及各关节的位置信息,通过VC编写控制程序及开发出可视化人机界面,操作员可以根据实际工作需要修改运动参数并点击操作界面的按钮即可以实现机械手的实时操作。

According to the demand of production, the articulated conveying manipulator with gripping and moving the workpiece function was designed and developed. It was mainly composed of four parts with a waist, big-arm, small-arm and wrist. DMC2410 mo- tion control card was used as the manipulator control core system to control the stepping motor running, and the manipulator rotating or pitching motion were achieved by the motor driven ~e gear reducer. DMC2410 motion control card was connected with the stepper mo- tor driver and limit switches to obtain the mechanical gripper and the joint position information. The control program and a visualized man-machine interface （MMI） were developed by VC compiling, according to the actual working needs, the operator can modify the motion parameters and click interface button to operate the articulated manipulate on real time.