基于PLC的多轴机械手运动控制设计研究

Research on Motion Control Design of Multi-axis Manipulator Based on PLC

为探讨PLC系统应用下的多轴机械手运动控制设计,首先通过文献检索收集并理论分析PLC系统应用下的多轴机械手运动控制作业情况以及设计知识。然后从PLC多轴机械控制以及工艺研究两个方面入手,建立完整的多轴机械手运动控制体系,提出了多轴机械手运动控制系统运行设计方面的四种安全指标。采用仿真试验法建立了真实的数学模型,通过多轴机械手运动控制系统中的电气数据获取、系统程序运行、周期方面的3种变化规律,实现对控制设计的研究和探讨。研究结果表明:机械手的运动受信号的控制,在多轴机械手运动控制设计阶段应加强对PLC的思考,机械手在制造过程中应重视其柔性,结合柔性制造单元更改机械制造系统的人工操作方式,可以让机械手向微型化、小型化的方向发展。

In order to discuss the motion control design of multi axis manipulator under PLC system,the operation and design knowledge of motion control of multi axis manipulator under PLC system are collected and analyzed theoretically through document consulting.Then,starting from two aspects:PLC multi axis mechanical control and process research,a complete multi axis manipulator motion control system is established,and four safety indicators for the operation design of the multi axis manipulator motion control system are proposed.A real mathematical model is established using simulation testing method.Research and exploration of control design are achieved by electrical data acquisition,system program operation,and cycle changes in the multi axis robotic arm motion control system.The results indicate that the manipulator is controlled by signals.In the design stage of multi axis robotic arm movement control,the consideration of PLC should be strengthened.The flexibility of the robotic arm should be emphasized in the manufacturing process.Flexible manufacturing units should be adopted to change the manual operation mode of the mechanical manufacturing system,thus pushing the robotic arm development towards miniaturization and miniaturization.