基于运动控制卡的冲床辅助机械手研究

Research on Punch Auxiliary Manipulator based on Motion Control Card

冲床上下料频繁、危险且要求准确定位,此对采用辅助机械手能准确放置工件,提高工作效率,降低劳动强度。为了实现冲床工件上下料及在2个工位间移动,采用了具有4个旋转副的四自由度冲床辅助机械手结构。利用D-H法求解机械臂运动学正反解算法,然后利用MATLAB软件计算并描绘出其工作空间。采用PC+Clipper运动控制卡及伺服驱动器等构建了其控制系统,使用速度和位置双闭环控制,并编写运动控制程序和PLC程序,实现了机械手上下料及在2个工位间准确和平稳地移动。

Loading and unloading of workpiece on punch are frequent, dangerous and accurate positioning, so using ma nipulator is beneficial to improve work efficiency, reduce labor intensity while the workpiece is placed accurately. The ma- nipulator structure has four revolute joints to realize workpiece loading, unloading and movement between two stations. D-H method was adopted to get forward and inverse kinematics algorithm, work space was calculated and diagramed by MAT- LAB software. PC＋Clipper motion control card was used to construct the control system of manipulator. The workpiece loading and unloading, movement between two stations can be realized by motion control programs and PLC programs.