Manipulator is the earliest industrial robot and the earliest modern robot.
It can replace people's heavy labor to realize mechanization and automation of production, and can operate in harmful environment.
Protect personal safety, widely used in machinery manufacturing, metallurgy, electronics, light industry and atomic energy.
The robot mainly consists of three parts: Actuator, driving mechanism and control system.
This paper mainly introduces the three main elements of the drive and control system designed by the robot: stepping motor, stepping driver and controller.
According to the driving mode, the robot can be divided into hydraulic, pneumatic, electric and manipulator.
The three-degree-of-freedom manipulator designed in this paper is a hybrid manipulator combining electric and pneumatic. The advantage of this robot is that it saves travel switch and I/O port, and achieve the purpose of easy operation and accurate positioning.
Manipulator is a kind of mechatronics automatic equipment, which can simulate human arm movement according to setting procedures, tracks and requirements, instead of manually holding, carrying or holding tools.
A robot with three degrees of freedom, also known as a 3D robot, places objects in three degrees of freedom (Horizontal, vertical, and rotating).
It has a wide range of work, flexibility and a wide range of applications. Programmable Controller (PLC)
It is an electronic control unit designed for industrial applications that perform digital operations.
Due to its high reliability, powerful function, simple programming, human-computer interaction and other advantages, its friendly interface has been widely used in industrial control systems.
Stepping motor is an open-loop actuator that can convert electrical pulse signals into angular displacement or linear displacement.
In the absence of overload, the speed and stop position of the motor depend only on the frequency and pulse of the pulse signal.
The existence of this linear relationship, coupled with the stepping motor only has periodic error and no cumulative error, makes it widely used in the control of speed, positioning and other fields. 1.
The system structure and motion mode of the manipulator the manipulator is a cylindrical coordinate system. The left and right movement of the manipulator (Horizontal direction)Controlled by telescopic stepping motor, moving up and down (Vertical direction)
Controlled by lifting stepping motor, counterclockwise and clockwise.
The rotation motion is controlled by the positive and negative rotation of the chassis DC motor.
The clamping device of the robot adopts a joint structure, and its clamping and release are driven by air pressure and controlled by electromagnetic valve.
According to the action of setting up the program, the robot can carry the workpiece from A to B. 2.
Design of Manipulator Control system manipulator system has manual mode and automatic mode.
The automatic mode is divided into four methods: automatic homing, single step, single cycle and continuous operation.
TAG stepper motor