基于液压传动多自由度机器人控制系统研究

Research on Control System of Multi-DOF Robot with Hydraulic Transmission

针对传统工业生产自动化程度不足,设计了一款基于PLC和液压驱动的圆柱坐标系搬运机械手。介绍了搬运机械手基本组成结构、控制要求以及控制系统相关的辅助元件,重点分析了搬运机械手工作原理、液压回路、PLC控制程序等,并利用组态软件进行组态仿真实验。实验数据验证了该控制系统控制下机械手的工作性能良好及控制系统设计的合理性,并能够达到实际生产的要求。

Aiming at the insufficiency of traditional industrial production automation,a cylindrical coordinate manipulator based on PLC and hydraulic drive is designed.This paper introduces the basic structure,control requirements and auxiliary components of the manipulator,analyzes the working principle,the hydraulic circuit and the PLC control program of the conveying manipulator,and uses the configuration software to simulate the configuration.The experimental data show that the control system has good working performance and the rationality of control system design,and can meet the requirement of actual production.