五自由度机械手的自动控制

5-DOF Manipulator Automatic Control

在介绍五自由度机械手的结构基础上,详细论述了机械手的自动控制原理,采用步进电动机驱动机械手的水平移动和底座旋转,采用直流电动机驱动机械手大臂、小臂和手腕旋转,采用舵机驱动机械手爪的开闭。机械手采用PLC和单片机相结合控制步进电动机、直流电动机、舵机,并借助传感器,对机械手的各自由度进行控制,可方便、准确地实现机械手的位置控制,完成物料的搬运任务。

The principle of automatic control of the manipulator was discussed in detail based on the structure of the 5-DOF manipulator.The horizontal movement of the manipulator and the rotation of the manipulator base were driven by stepping motors,the arms and wrists of the manipulator were driven by DC motors,the mechanical hand was opened and closed with the steering gear.PLC and microcontroller were used to control step motors,DC motor and steering gear,and the degrees of the freedom of the manipulator were controlled with the help of the sensors.The position control of manipulator can be realized conveniently and accurately,and the material handling tasks can be completed.