Design And Research Of Control System For Four-axis Truss Manipulator Based On PMAC

The goods need to be stacked in the stereoscopic warehouse.We can maximize the use of space and keep the goods in a neat and stable way by stacking goods.Traditional stacking is usually carried out by manual working,which cannot meet the requirement when goods are too heavy.The truss manipulator can stack large quality goods easily.It is significant to design the truss manipulator which can not only stack goods,but also work with other automation equipments in the intelligent warehousing system.Based on the analysis of the current research status and the functional requirements of the truss manipulator,the overall plan of the control system of the truss manipulator is put forward,the working process of the truss manipulator is proposed,the scheme for hardware and software systems is formulated.The hardware framework of the control system is designed,which used the industrial computer as the upper machine,the PMAC motion controller as the lower machine,and servo motor as the power device.The electrical system for the whole machine is designed.The overall framework of the control system is designed.Based on C# and Access database,the PC software and database program has been accomplished including the core modules of teaching,scheduling and so on.The work of the PLC program and motion program has been finished.The communication mode of PMAC and the industrial computer has been proposed.In order to ensure the stability working of the truss manipulator,a lot of functional debugging work and parameter debugging work have been carried out,including motor debugging,IO test,teaching debugging,scheduling debugging.In the process of scheduling,the truss manipulator can be butted seamlessly with the warehouse management system.The scheduling task sent by the warehouse management system can be accurately received by the truss manipulator,and then it can be analyzed and executed quickly.Finally,the execution result can be fed back to the warehouse management system.At present,the R&D work of control system has been completed.The equipment has been put into operation,which can work steadily and smoothly.