基于PLC的自动化生产线三自由度机械手控制系统设计

Control System of 3-dof Mechanical Arm of Automatic Production Line Based on PLC

以自动化生产线实验设备中的机械手工作站为教学对象,分析了三自由度机械手工作过程,讨论了PLC控制系统和气动控制系统的设计。介绍了移位指令在三自由度机械手控制程序中的创新应用。实验结果表明,该机械手能在其回转半径空间内实现对工件的抓取、放置,且性能稳定,工作可靠,很好的提高了实践教学效果。

Taken 3-dof mechanical arm as a research object which used in the autOmated production line tes equlpmem,analyzed the working process of the 3-dof mechanical arm and discusses the design of PLC control system and air-actuated control system.This paper introduces the creative application of shift instruction in the control program.Experimental results show that this 3-dof mechanical arm can finish grabbing and placing workpiece within the radius of gyration space,it is stable and reliable and improved the practice teaching effect.