Study On The Mechanical Structure And Control System Of The Object Holding Manipulator

In this paper, an economic scheme of robot whole mechanical configuration and control system is provided based on the research and development of robot in recent years and connected with the design of the object holding manipulator.The analysis and design of robot mechanical configuration, transform system, drive department and control system are guided by mechatronics idea and the respective characteristic and complement of mechanical, electronics, software and hardware are also taken into account. On the basis of this design, the kinematics is analyzed and the relationship between arthrosis parameters and manipulator space in position, speed and acceleration is given. The Newton-Euripides method is put into use in analysis the object holding manipulator dynamics and the result will provide theory evidence in step motor selecting and structure optimizing. In the design of the object holding manipulator control system, the PC industrial computer is the main computer of the control system, and the control cell uses PCL-839 to fulfill the system initialization, data operation and dispose, step motor drive, error alarming and solve and so on. At the same time, the features, task principles and the position function with high precision of the control card PCL-839 are analyzed. At the last, a step motor shift control method is proposed, which is simple to calculate, easy to realize and the theory means is straightforward. The method is tested by experiment.According to the analysis of above parts, a economic, practicality and high reliability object holding manipulator design scheme is concluded which will be value to other type of robot' s mechanical design and control system research.