并联机械手控制器CVT功能应用

Parallel Manipulator Controller CVT Function Application

随着工业自动化技术的发展,机械手在自动化设备中广泛应用,在一些工位上逐步替代人工作业。根据不同的行业和自由度要求,主流的机械手有四轴、六轴、并联机械手,以及一些与人工配合的协作机械手。其中并联Delta机械手通过示教规划运动轨迹,简单易用,可实现自动控制、可重复编程、多功能、多自由度的运动控制,能够完成装箱、搬运等操作,以完成各种作业。对此,文章介绍了并联机械手、基于台达MS机器人控制器的并联机械手以及MS控制器内建的机器人形态设计,探讨了CVT功能在并联机械手控制中的应用。

With the development of industrial automation technology,robots are widely used in automation equipment and gradually replace manual work at some stations.According to different industries and freedom requirements,the mainstream manipulators are four-axis,six-axis,parallel manipulators,and some collaborative manipulators with manual coordination.The parallel Delta manipulator is simple and easy to use by teaching and planning motion trajectory,which can realize automatic control,repeatable programming,multi-function and multi-degree of freedom motion control,and can complete loading,handling and other operations to complete various operations.In this paper,the parallel manipulator,the parallel manipulator based on Delta MS robot controller and the robot shape design built in MS controller are introduced,and the application of CVT function in parallel manipulator control is discussed.