Research On Structure Design And Servo Control Of Pneumatic Manipulator

Since pneumatic manipulator has a serials of advantages of simple structure,light weight,quick-moving,reliability,low cost,anti-pollution,stepless speed regulating, overload protection,it apply to motor industry,food and medicines pack industry, chemical industry,precision instrument manufacturing industry and defence industry etc.For strengthening the general availability of manipulator and making the same manipulator has the different function with the different modules,this paper adopt to modularize pneumatic manipulator.It carry out physical design on modules such as pedestal,column,arm,hand part.Modularization design is easy to produce and put into use normalizingly.In the structure analyses of the manipulator,this paper establish the kinematics model of mamipulator according to D-H,which ascertain space location and attitude connection between every member and end implement;this paper establish the dynamics model of mamipulator according to Lagrange,which ascertain relation between every arthrosis motion and the acting force(or force moment).In the orientation and control of the manipulator,this paper adopt the electro-pneumatic servo orientation technology to design the drive system of the manipulator and adopt S7-200 PLC to accomplish controlling core,technological process has worked out the job according to manipulator controlling scheme.The arbitrary orientation and stepless speed regulating of the manipulator has realized.