Design Of Carrying Manipulator Based On Electric And Pneumatic Driving

With the continuous development of modern industry and unceasing promotion of “substituting machine for human”, manipulator has been more and more widely used in various fields of national economy. It can replace human to finish the repetitive, monotonous and highaccuracy job, which helps to reduce labor intensity and improve work efficiency. Based on the manipulator research status at home and abroad and its development tendency, this article analyzes the functional and performance requirements of material handling manipulator, and carries out mechanical and electrical integration design for it,combined with the actual project of “material handling manipulator development”. The main work and results are as follows:(1) Analyze the function and performance requirement of industry manipulator, especially o f the carrying manipulator. Put forward an overall structure of it based on the rectangular coordinates form, and the total design scheme adopting combination drive mode which includes 3-DOF, electric drive and gas drive.(2)In according to practical functions of carrying manipulator, manipulator components are confirmed based on rectangular form and their structure form, adopted Pro/E software to complete the machine design, including the pedestal, arm of X axis, Y axis, Z axis and etc. in order to meet the demand of high accuracy positioning and simple and practical operation, it is suggested that X axis is driven by electricity, Y axis and Z axis are driven by gas, construct standard component model, including servo motor, air cylinder and etc; calculate electric parameters, including load/electrical machine inertia ratio, rotate speed, torque and etc; match electric machine and reducer; and complete type selection design. At the same time, considering safety factors, antidrop air cylinder and other protection devices are introduced. In the end, all components are assembled, and the overall mechanical structure design of manipulator is accomplished and simulated.(3)Aiming at the servo motor driving of the X-axis of the manipulator, the control algorithm of the PMSM is discussed and studied. The mathematical model of PMSM is analyzed. To solve the problem of the controller deterioration caused by the load disturbance, a double closed-loop controller is designed based on fuzzy control and disturbance observer. Compared with conventional PI controller and fuzzy controller, the simulation results show that the design scheme has favorable dynamic, strong robustness and high practical value. Pneumatic driven schematic diagram is designed according to the work performance of the manipulator and the program of driving Y and Z axis through gas is proposed. Besides, pneumatic schematic diagram and vacuum circuit diagram are designed and manual driven manner is discussed.(4)Study the process for control of TDF handling manipulator. Based on the motor process and the process order and time arrangement, S7-200 PLC of Siemens is employed to achieve control, and planed for I/O connector and content for control; Finish PLC encoding and touch panel configuration software design. At the end, TDF manipulator control system is created based on PLC.