| The pneumatic technology has been widely used in industry for its advantages of simple structure, low price, recycling etc. It is becoming one of the most important methods of the facility automation line. People draw more and more attention to it. Especially, pneumatic servo positioning technology can realize automatic orientation when cylinder moves in high velocity. Correspondingly, pneumatic mechanical hand is also developed and breaks through the traditional positioning method. What I research is the tool-changing manipulator based on pneumatic technology.Firstly, the general machine design principle of manipulator is introduced in this paper. Parametric and serial idea is used to design the pneumatic manipulator with Pro/E Family Table and Pro/Toolkit. This design has given attention to special-purpose in use and versatility in design at the same time. So it is advantageous for standardization, serialization and organization of the special production.Then, the author designs manipulator's pneumatic driving system, the Control system adopts SIMENSE S7-200 PLC as the control core,and replaces the absolute encoder by the incremental encoder to save cost. The research institutes two control schemes of PLC according to the manipulator workflow.The kinematics equation of manipulator is established by D-H method for the relation between the parts and position of manipulator. And dynamic equation is established using Lagrange equation for the relation between the motion of every joint and force.To meet the requirement of positioning precision, stable work and reliability, the pneumatic driving components are being confirmed through the academic calculation and simulating analyse. And the simulating model and control mode of the pneumatic servo system are being researched. The mathematical model and the control mode are being confirmed. The system is being checked by the simulating way. Furthermore, pneumatic servo controller SPC20 is carried out to discuss deeply. |
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