The Design Of Configurable Pneumatic Manipulator Based On Wireless Communication Technology

The industrial manipulator is an important part of industrial automation production,it can take the place of human to do some dangerous,hard and boring work in some work situations,which can improve production efficiency,reduce industrial cost and alleviate the human labor.Pneumatic technology has been widely used in industrial production for its safe,convenient,clean and pollution-free.With the rapid development of microelectronics technology,computer technology,automatic control technology and sensor technology,the technology of industrial manipulator continue to mature.In this paper,according to the research and analysis of the development status and trends of industrial manipulator,a new design scheme of function-configuration manipulator based on the idea of "configuration" is given.According to the difficulty of gas control and low positioning accuracy,using moving cylinder as the positioning system and the corresponding mathematical modeling and simulation are carried out with the help of Matlab/Simulink.And a linear cylinder positioning system based on PID controller is designed.According to the overall requirements of the system,the design scheme of modular manipulator is given in this paper.It introduces the composition and function of each module,including the working principle of pneumatic components,and completes the hardware and software of each module based on the STM32,at the same time discusses the key sensor technology used in the system;uses LabVIEW to realize the function of PC software.In order to reduce the interference of the connection between the units to the movement,the system adopts wireless communication,including short distance wireless communication and remote wireless communication.The two kinds of wireless communication technology,nRF24L01 technology and GPRS technology are introduced in detail in this paper.Finally,a gantry manipulator is established in the laboratory environment to carry out the experimental research and analysis on the technology used in the system.The experimental results show that the system can meet the design requirements.