Positioning Control Of High Speed Industrial Manipulator

In recent years, the more needs of the industrial automation with the development of the national economy, in a variety of industrial enterprises, such as injection molding industry, casting industry, etc., often have work piece that require removal, especial the various components in the electrical and mechanical, daily necessities, hardware accounted for a large proportion (70% or more), but the vast majority of material is used hand-check, which caused a large number of accidents. The most effective measures in safety production to avoid such accidents are use manipulator on wash bed replace the manual operation. The manipulator not only achieves the safe operation, but can also improve product quality, improve production efficiency, reduce labor intensity, but also avoid the inaccurate of artificial feeding and reclaimed feeding due to fatigue. This paper developed a high-speed high-precision industrial manipulator; it can solve some technical difficulties encountered in practical application, specifically as follows:Through the study of overall mechanical structure and driving method of the industry manipulators that have different shape and structure applicable to different environments, we designed the virtual prototype model of the industry manipulator that have small size, light weight, fully function and drove by electric for the shortcomings of great quality,bulky, etc.Pneumatic servo system proposed to improve the positioning accuracy of manipulator for the shortcomings of the present industry manipulators have low precision positioning. Pneumatic servo system model is established; the mathematical model of cylinder is established, including the kinematics equation, flow equation, energy equation, obtained transfer function and response function through linearization and the PID control of pneumatic servo system model. Presented stepper motor acceleration and deceleration curves against characteristics of stepper motor and gives the software and hardware design.Finally completed the experiment of study, the results shows that the manipulator with the virtue of low cost,good positioning accuracy and using flexible, it can be widely used in injection molding industry, mechanical industry, electronic industry, chemical industry, food and packaging industries etc.