| In order to reduce the development costs and period of industrial manipulator, promote the use of the industrial robot in small or medium-sized enterprises, by using related theory of industrial manipulator design and control, based on the connecting rod and sleeve assemblying manipulator, and its control requirments, some related technologies and methods researches are done about the use of universal CNC system to operate the manipulator to fulfil the process flow, the specification instruction program edit, and control precision improvement, operating convenience and etc.The main content of this paper are as follows:The movement process of the manipulator are analyzed. Basing on the structure characteristics of manipulator and the needs of the control,Some analysis is done about numerical control system and related electrical components selection. HNC-18xp/M3of "century star" system is selected as manipulator control system. The control principle diagram, servo control system, and pneumatic system are designed. According to the needs of logic control of manipulator. Contents and methods of the CNC system PLC programming were analyzed. Some instruction program are designs base the PLC of numerical control system including the editing, simulation,transmission and debugging of manual and automatic. According to the diagram of electrical principle, the numerical control system, hand-held unit, servo motor and computer were built into a.manipulator test platform which was based on CNC system."Point choose method" is used in the experiment of the manipulator debugging.Experimental debugging results shows that industrial manipulator control method is feasible based on general NC system. It can shorten development cycle of Industrial manipulator, save development cost, and improve working efficiency and repeat positioning accuracy of industrial manipulator. It has good guidance significance and application value on industrial manipulator’s research and development, and it can provide certain theoretical basis for the promotion of industrial manipulator in small and medium enterprises. |
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