The Design And Control Of Seawater Organic Tin Detection Manipulator

Manipulator is the most popular kind of robot,which is the combinative of mechanical technology,electronic technology,the combination of automatic control technology. Manipulator has moving and operating functions, is an important branch of robotics,which has widely application prospects. With the development of science and technology, more and more manipulator applied to each aspect of modernization construct,the control of robot also receive more attention. The manipulator integrated automatic control, microelectronics technology, computer, mechanical design, sensors and information processing and artificial intelligence research achievements of multiple disciplines, belongs to the typical electromechanical integrated equipment. with the development of economic and technological,more and more industries rise the degree of automation,a large number of manipulator device arise.The manipulator have reliable performance, environment adaptiveness, high precision, simple and control stability independent ability high and rapid robot control design level is the measure of the important symbol. The control and design techniques of manipulator include two aspects, the technical implementation and theory research.This thesis summarize the study at home and abroad in recent years in manipulator research results and development status of foundation, the union countries seawater tin measurement project requirement, designed for seawater tin measurement process, the seawater tin measurement needed chemical reaction process of target objects are stable and accurate grab the rapid, accurate transfer carrying manipulator system. This paper from combined operations at sea characteristics and requirements of the project and technical level of seawater tin measurement manipulator control design, made relatively reasonable scientific strategy and technology to achieve the two-dimensional three dof manipulator. In the realization of the project requirement, on the basis of the use of MATLAB software of manipulator orbits simulation. According to the requirements of rapid accurate next choice for the system control strategy and sensor, design is MCU control chip, stepping motor and pump for drive source, through the stepping motor disguised as well as speed combined with pneumatic achieving this manipulator system of 2d three degrees of freedom movement. And with the PC powerful information processing capability, written by vc the man-machine interface to realize communication.