基于PMAC的四轴桁架机器人控制系统设计

The design of control system of the four-coordinated axes truss manipulator based on PMAC

现如今仓储、物流行业不断发展,在重复搬运重型货物时工作人员劳动强度极大。为了减轻工作人员负担,提高仓储、物流设备体系的自动化水平,提高工作效率,设计了能够搬运重型箱体的四轴桁架机器人。该机器人为用户提供多种操作模式,既可以单机运行,也可以联机运行接收总控的调度指令。控制系统的核心为工业控制计算机和可编程多轴运动控制器(Programmable Multi-Axes Controller,PMAC),利用PMAC实现四轴插补联动;执行机构为带有绝对值编码器的安川伺服电动机。

At present, with the development of the warehousing and logistics industry, workers are very bard when they repeated handle heavy goods. In order to reduce the burden on workers, improve the automation level of the warehousing and logistics industry,raise working efficiency, designed the four-coordinated axes truss manipulator,which can carry heavy boxes instead of workers. The equipment provides users with two operating modes solo mode and on-line mode. The cores of the control system are industrial computer and Programmable Multi-Axes Controller （PMAC） ,which was used for four-coordinated axes. The actuator is YASKAWA servo motor with absolute pulse coder,which can move precisely.