摘要
现阶段,机器人在现代工业制造领域发挥着重要作用。该文基于西门子S7-200和PEC-6600主控制器,采用伺服电机与步进电机作为多自由度串联机器人的运动驱动,搭建了机器人硬件系统。基于Step7-Micro/WINSP9和PLC-Config编程软件,对多自由度串联机器人控制系统进行编程。经调试,系统运行精确,达到了预期的控制要求,为多自由度串联机器人的研究提供了技术支撑。
At present,robots play an important role in the field of modern industrial manufacturing.Based on Siemens S7-200 and PEC-6600 master controller,the robot hardware system is built by using servo motor and stepper motor as the motion drive of the tandem robot.Program the serial robot control system based on Step7-Micro/WIN SP9 and PLC-Config programming software.After debugging,the system runs accurately and meets the expected control requirements,which provides technical support for the research of multi-degree-of-freedom serial robot.
作者
韩天禹
苏晓峰
张津
罗英丞
陆光亮
HAN Tian-yu;SU Xiao-feng;ZHANG Jin;LUO Ying-cheng;LU Guang-liang(School of Mechanical and Electrical Engineering,Xi’an University of Architecture and Technology,Xi'an 710055,China)
出处
《自动化与仪表》
2019年第8期47-50,54,共5页
Automation & Instrumentation
基金
西安建筑科技大学第十三批大学本科生科研训练(SSRT)计划项目
西安建筑科技大学2018年国家级大学生创新创业训练计划项目(201809003)
关键词
PLC控制
多自由度
串联机器人
PLC control
multiple degrees of freedom
serial robot
