Development And Application Of A Control System For High-Speed Pickup Parallel Robot

The 4-DOF high-speed pickup parallel robot is a kind of parallel robot, which four motor shaft on the same plane circumference evenly distributed, with high positioning accuracy, running speed, high load capacity and other characteristics, are widely used in electronics, medicine, food and other industry, can solve the low efficiency, high pollution and high cost problems effectively, which caused by manual sorting and packing which existed a large number of simple and repetitive high labor. To solve the above problem, this paper uses self-developed robot controller, designed and developed 4-DOF high-speed pickup parallel robot control system, achieve the continuous operation of the conveyor belt on automatically pick up items, straighten the operating functions.In this paper, a network programmable robot controller is used as the core components of the 4-DOF high-speed pickup parallel robot control system, design the working principle, program structure, pulse control, robot model, curve interpolation, acceleration and deceleration control and instruction encapsulation and so on. Based on the robot controller, this paper analyzes the performance characteristics of the control system, making the structure of the control system, servo system, transmission system, pneumatic system and visual system and other electrical part, programming homing, teaching, communication, program running and other control procedures, testing the control system of the robot, the experimental results show that the 4-DOF high-speed pickup parallel robot capable of picking continuously picked up, straightened the automation work.A large number of experiments and practical applications show that the 4-DOF high-speed pickup parallel robot control system proposed in this paper to design more reasonable, to achieve the desired requirements, to better meet the food, medicine and electronic industries sorting line items, pickup, straighten and packing operation process automation requirements, so the proposed scheme has good application value, can effectively improve production efficiency and reduce production costs.