| The development and application of CNC has reduced lots of operation time when machining parts and increased productivity, CNC has developed to be a class of more advanced equipments, namely, machining center. Machining center that is equipped with tool magazine and automatic tool changer is a multi-functional digital control machine which can make parts, according to pre-set programs for different stages. In addition, pneumatic manipulator has many merits such as simple structure, light weight, fast movement, reliability, low cost, pollution free, steeples speed regulation, and overload protection which is suitable for automatic tool changer on CNC.For strengthening the general availability of manipulator and making the same manipulator has the different function with the different modules, this paper adopted to modularize pneumatic manipulator. It carries out physical design on modules such as pedestal, column, arm, hand part. Selection and combination of modules form a series of products with a range of different functions or different performances and different specifications. In addition, the approach facilitates the modification and redesign of the module parts for fast production, which reduces the cost of installation and works transition and facilitates the standardalization of production and utilization of the manipulator. In the structure analyses of the manipulator, this paper establish the kinematics model of manipulator according to D-H, which ascertain space location and attitude connection between every member and end implement; this paper establish the dynamics model of manipulator according to Lagrange, which ascertain relation between every arthrosis motion and the acting force(or force moment). To analyze the manipulator's position control, the actuation system is designed based on the electro-pneumatic servo orientation technology where the pneumatic actuator takes effect according to the input system's electrical signals to drive those physical variables of load output. This paper adopt Simatic 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. |
