The Research And Design Of Dispensing Robot Motion Control System

Current infusion drug is usually dispensed by the medical staff in the injectionroom or the dispensary using artificial extraction method, and participate in thepreparation of toxic drugs such as chemotherapy drugs, the medical staff wouldcontact a lot of these drugs, facing a serious damage to health and even the risk ofcancer. Therefore, it is very necessary to develop a set of safe, efficient automatedmedical toxic drug dispensing equipment which can replace the manual operation. Onthe one hand, the dispensing robot can improve the quality of the dispensing drugs, onthe other hand, it can reduced the demand for health care workers and effectivelyprotect the health of the medical staff, which makes the heavy and dangerous toxicdrug preparation work to be completed safely and quickly.Dispensing robot system consists of mechanical system and control system, thecontrol system is the core of the whole pharmacy robot system, it gives all thedispensing pharmacy robot motion and function. In this paper, the application ofdispensing robots at home and abroad, research status and technical characteristic areanalyzed in depth, based on this, completed the overall design scheme. In thispaper,the dispensing robot system is analyzed, decomposition the dispensing motionstudies the relevant way of motion control, motion control algorithm and servo motorcontrol strategy, completed the dispensing robot motion control system design.System uses DSP chip TMS320F2812and the motion control chip MCX314As, inview of of the main circuit structure, the detailed design and analysis haved beencarried on, including the clock circuit, power circuit, extended memory circuit, A/Dcircuit, D/A circuit, general I/O interface circuit, PCI communication interface circuitand JTAG interface circuit, the main program and position type PID control algorithmis design, motion control library function was developed, has realized the motioncontrol algorithms such as the linear acceleration and deceleration algorithm, thelinear interpolation algorithm, arc interpolation algorithm, at last, design thecommunication program.Based on the analysis and design function module functions, the dispensing robothas pilot run in the lab, can realize the functions such as up injection, open ampoules,preparation of ampoules, open schering bottles, preparation of schering bottles anddown the injection. But some shortcomings have also been founded out, baesd on thesensing technology progress and the development trend of machine vision, direction and some improvements were put foeward in the future will more safe and efficientintelligent dispensing robot, will fill it completely liberated from dangerous heavydispensing work.