Design Ofthree-dimensional Manipulator’s Micro Synchronous Motion Control System In The Plant Micro Dynamic Ion Fluxes Detection Device

Plant information interaction with the outside world in the process of growth is the guarantee of life.To get accurate, stable, nondestructive plant life informationhas great significance about evaluation of plant growth status and the mechanism of plant growth and development.Dynamic transport of ions is critical in plant growth, metabolism and nutrition absorption, sense stimuli etc.So, research on dynamic detection of plant ion is more and more attention. Ion detection is a process that is by controlling fine movement of the glass microelectrode and making the best state of microelectrode get ion flow dynamic signal of different measuring points in the state of non-contact plant tissues and organs on digital microscope imaging.3 d manipulator is a device that can hold the glass microelectrode and determines themovement precision of electrode. This topic for the 3 d manipulator control problem is studied, such as movement patterns, speed, direction etc. And aiming at these problems puts forward specific solutions and completes the hard and software design of motion control system.The main results about the design are as follows:1.Thedesign analyses the application background and significance of ion current detection device, the ion current detection device research status and development trend at home and abroad.The design expounds the working principle of ion current detection device.2.According to the requirements of the portable and selected small three-dimensional structure of the manipulator, the design proposes overall plan that is the 3 d motion controllable system of the manipulator.Based onthread structure of the 3 d manipulator, the project is use of step motor subdivision technology to implement fine to control of directions. Then using PC interface realizes quantitative control operation, intuitive and simple.3.According to the system design idea, design and build hardware system of three-dimensional manipulator motion control:(1)For the controllablemodule and the driving module, the design compares and selectsa controllable chip and a driving chip.(2)The project designsschematic diagram of the control system and completes the PCB board.(3)After, completecontrollable circuit welding and debugging.4.According to the ion flow testing requirements, complete the hardware system.The designcompletes embeddedcode and the 3 d motion control:(1)To finish the accurate position of the glass microelectrode, according to adjust the pitch of thread and accuracy of electrode displacement requirement, the control program has eight segments in class, the largest fine score is 128.(2)For PC and single chip microcomputer, the project designs communication rules and order.5.Designing PC software is also a task. Aiming at the need of actual operation, the system should not only have rapid movement of long displacement, and need fine tuning when the electrode near the sample, but also achieve timing of the reciprocating movement during the collection movement. Movement of each arm on 3 d manipulator has three control modes: continuous motion, the motion of single step and collection. At the same time system can also choose to set the frequency during electrode reciprocating motion and the total time.Test shows that the system completes movements, velocity, displacement and directionof stepper motor on each arm in 3 d manipulator, the system has made the glass microelectrodewith cells in top form good sealing to send the accurate location and complete the signal acquisition.