摘要
二自由度并联机械手采用平行四边形结构,工作台保持始终地面平行,现在已经广泛用于各类工业现场.针对二自由度并联机械手的结构特点及控制要求,给出了基于PLC的机械手设计方案,包含机械结构设计、PLC伺服控制系统设计以及人机界面设计等环节.PLC伺服控制系统设计包含硬件、软件设计和相关参数设置,通过样机试制,实现了对工件快速抓放和移动.
The 2-DOF parallel manipulator, now widely used in varied industrial fields, applies the parallelogram structure so that it can always keep the worktop parallel to the ground. Grounded on the structural characteristics and control requirements of a 2-DOF parallel manipulator, this paper presents a design scheme of PLC-based 2-DOF parallel manipulator. The scheme includes the mechanical design, manipulator trajectory planning, PLC servo control system design and human-machine interface design. The paper also gives the hardware design, software design and parameter settings of the PLC-based servo control system. By prototype trial, the robot can fast pick and place work pieces. It follows that it has a good practical application value.
出处
《绍兴文理学院学报》
2017年第7期47-51,共5页
Journal of Shaoxing University
作者简介
张小杭（1971-），男，浙江金华人，金华职业技术学院讲师，研究方向：运动控制、工业机器人等．
