The Development Of Automatic Pick-and-place Manipulator For Ceramic Products Based On Industrial PC Motion Control

Ceramic is a kind of good mechanical performance, corrosion resistance, chemical corrosion of materials in real life, and more and more kinds of ceramic, application scope is becoming more and more widely. However, most small and medium-sized ceramic processing enterprises in our country are still at the stage of manual, mechanization degree being not high, the production efficiency being low, so the small and medium-sized enterprises oriented automatic feeding manipulator has a large market.According to the enterprise actual demand based on sufficient investigation and research from the enterprise and the needs of the market for ceramic products, This topic is going on automatic feeding manipulator research. According to the requirements of the manipulator using environment and working, this paper formulated the general technical scheme of the manipulator, including the mechanical structure and control system part. On the basis of the technical scheme, it build up 3 d model through the three dimensional modeling software Pro/E to product model and verify the rationality and feasibility of manipulator through the assembly and the evaluation. At the same time, in order to meet the requirements of the production line and robot hand up efficiency indicators, it establishes positive manipulator kinematics solution and inverse equation through the d-h method of manipulator to complete the whole up action. In the space of the manipulator operation process, it solves the mode switch of the system shock effect by the trajectories of S type curve and the trajectory planning of high order polynomial interpolation method. This paper gives the structure of the manipulator design by Adams making the manipulator motion simulation and it is concluded that the feasibility of the design. At the same time, in various stages of the movement process of the manipulator, it adopts different control methods:space while moving the position control method based on feedforward control and take put material using fuzzy adaptive algorithm when the force loop control strategy. Through the study of the dynamic model of the structure modeling, it use the "external ring+position inner loop" control strategy and fuzzy adaptive PID control method.This paper designs the hardware and software of the fully automatic feeding manipulator with modular design method. It is based on the "PC+motion control card" master-slave distributed control structure with the strong Turbo PMAC PCI motion control function and the abundant DLL function library.Finally this paper expounds the function of the product by the dynamic simulation analysis of the automatic feeding manipulator.