Study On A Parallel Manipulator And Its Control System For Glazing Of Water Tank

Glazing is an important working procedure in the manufacture of sanitaryware which atomizes and sprinkles glair on ware surface by the compressed air. In our country, glazing by hands has been the main form for a long time, but its environment is bad, work intensity is great, quality is poor and producing efficiency is low. With the improvement of people's lives, it brings higher requirement to the sanitaryware. So glazing by robot instead of handwork becomes the fashion in the sanitaryware industry.Based on analyzing glazing movement of water tank's process, the paper puts foreword a kind of 2 degree freedom of parallel mechanism as glazing manipulator of water tank's executing mechanism in which kinematic is completely revolute joint. Its drive installs on the substrate.The mechanism is little in weight, simple in structure, which can avoid the drive and kinematic pair blockage by swashing glaze slip. Besides, this mechanism still has the characteristics such as higher rigidity, positioning accuracy, greater translation working space and more rapid speed. To establish kinematics of mechanism and dynamics model , it has offered mathematics tool for motor mode and manipulator control. By emulating for manipulator location, speed and dynamics, parameter of stepper motor has been determined.The paper puts forward a kind of a manipulator closed-loop control system based on PIC MCU and MCX314As motion control chip, to design control systematic external interface circuit and software, to put forward the specific measure that increases hardware systematic interference and software systematic stability.Adopting the parallel processing technique of the linear interpolation of CPU for the locus of spray gun and the motion control pattern interpolation , the parallel manipulator's operating space and joint space's coordinate transformation has been solved, to realize to the control of glazing manipulator end motion locus and manipulator articulated motion PID controller has been designed, to determine the parameter of controller and emulation for its time respondence and stability.