四自由度机械手控制系统的设计

Design of Control System for Four-Degreeof-Freedom Manipulator

四自由度机械手是应用型本科生机电气一体化控制的典型案例,基于UG设计了一种四自由度机械手控制系统,采用传统继电器和PLC设计了气动控制图、电气控制图,并分析了气阀线圈得失电状态以及在继电器控制条件下四自由度机械手控制系统工作原理。本设计实现了以继电器系统控制四自由度机械手动作的目的,可靠性较高,能够有效提高生产效率,并节约人力成本。

The four-degree-of-freedom manipulator is a typical case of the application-oriented undergraduate machine electrical integration control. Based on UG, a four-degree-offreedom manipulator control system is designed. The pneumatic control chart and electrical control chart are designed by traditional relay and PLC, and the valve is analyzed. The coil is de-energized and the four-degree-of-freedom manipulator control system works under relay control conditions. The design realizes the purpose of controlling the four-degree-of-freedom manipulator action by the relay system, has high reliability, can effectively improve production efficiency, and saves labor cost.