Design Of A Five-DOF Mechanical Arm And The Control System

Along with the development of industrial automation, the applying of the mechanical arm are more and more important in the industry.Mechanical arm was a new technology which in the modern automatic control domain appears.It can the partial zones for the manual control; it defer to the production craft the request, follows the certain procedure, the time and the position completes the work piece the transmwassion and loading and unloading.In thwas paper the present condition of research about domestic mechanical arm.The principle of work and the process of action’s realization of mechanical arm control system were described.The design of five-DOF mechanical arm control system was completed, the mechanical structure of mechanical arm with five-DOF was designed, and the motors, as well as PLC are selected.The paper presents the design of five-DOF mechanical arm can complete stretch, lift, hand rotation, clip claw tilt and grab.Thwas paper was through applies PLC control mechanical arm the movement.The programmable controller was the product which the black-white control and the computer control on develop, develops gradually the processing for the core the new industry automatic control device which the automated technology, the computer technology, the communication merges into one organic whole.Separate PLC difficult to realize the control of five-DOF mechanical arm.Thwas article provides some methods to realize the control of five-DOF mechanical arm, and compared.Including:increase positioning module,N:N network composition of several controllers.The mechanical arm with stepping motor and DC motor drive Stepping motor was a kind of performance organization that will give or get an electric shock a pulse conversion to move for the cape into the electrical engineering.When stepping motor received to a pulse signal into the actuator, it drive a step to press the direction of enactment to turn to move an angle for fixed to be called "tread to be apart from cape" into the electrical engineering.The PLC could produce control-pulse, passing PLC plait dwastance exportation several pulses certainly the control treads to turn cape into the electrical engineering.The mechanical arm of position use half closed loop control, and the photoelectric encoder provided feedback for position.In the control algorithm, we proposed a PID controller with position-trajectory of control by following of mechanical arm.The controller tune PID parameters for improved control quality and adaptability.