四自由度机械手PLC控制

PLC Control of Four-freedom Manipulators

为完成货物的自动搬运,设计了一种圆柱坐标式四自由度机械手,其控制系统采用功能强大、可靠性高的可编程控制器。本文详细论述了PLC控制系统的组成和软件设计,通过PLC驱动步进电动机、直流电动机和气动阀,并借助传感器对机械手的各自由度进行控制,可方便、准确地实现对机械手的位置控制。

In order to fulfill free movement of carriage, a column-coordinated four-freedom manipulator was designed with a powerful and highly reliable PLC applied in its control system. The components and software design of PLC control system were discussed in details in this paper. Step motors, direct current motors and air-operated valve were driven through PLC, and degrees of freedom were controlled with the help of transducers, so the location control of the manipulator was ful filled by rule and line.