工业机械手的PLC控制

本文从一种在实际机械生产过程中主要完成上下料加工任务的机械手其机械结构入手,分析了该种通过直流力矩电动机驱动的具有三自由度的工业机械手其控制系统的硬件构成以及软件设计。     

基于教学的关节型机械手的结构设计

本文设计了一种用于教学的4自由度关节型上下料机械手。该机械手主要由旋转底座、大臂、小臂和末端执行器等组成,采用步进电机驱动机械手的运动。大、小臂采用平面连杆机构串联而成,可实现腕部关节的平动。末端执行器采用齿轮回转型夹持器,工作可靠,结构简单。     

玻璃管火焰下料机的设计

本文设计开发了一种用于玻璃管火焰下料的设备。该设备应用了两个机械手进行玻璃管的夹持和旋转,用左右旋螺纹机构分开两机械手,用天然气火焰加热熔断原料,用皮带输送上下料。采用了PLC控制及触摸屏界面,人机界面好,操作可靠,有效的降低了人工劳动强度,提高了工作效率。     

液压式四自由度机械手设计研究

机械手是现代自动化设备中非常重要的一部分,液压式机械手具有较大的扭矩、较高的工作效率、较宽泛的工作速度调节范围,具有非常好的应用价值。四自由度机械手是常用的类型,设立圆柱形坐标系,实现机械手手腕垂直旋转、机械手手臂伸缩、机械手基座水平旋转、机械手基座上下运动,往复线性动作采用双作用单活塞油缸驱动,旋转动作采用内曲线径向马达驱动,保证机械手动作的稳定与高效运行。     

CNC内圆磨床T-11L59自动上下料机构

介绍了CNC内圆磨床T-11L59的自动上下料装置的特点及运动过程,该上下料机构可用于法兰盘的自动上下料。     

基于S7-200 PLC的三维机械手控制设计

为了提高机械手在工业生产中定位的精度,提出了一种用步进电机驱动的三维机械手的装置。机械手手臂和躯干的运动用步进电机驱动,依靠接近开关以及光电编码器的精确定位,利用S7-200作为控制器来实现对机械手的控制。控制方案中详细论述机械手控制系统的硬件结构及软件实现方法。测试表明,该系统具有较高的应用价值。     

火力发电厂燃料自动上料机械手的研制

本文详细叙述了火力发电厂上料机械手的研制过程,该机械手不仅可以替代铲车进行上下物料,而且可以应用在其他一些危险行业中,以降低恶劣的工作环境对人身和设备造成的伤害。     

PLC控制三自由度机械手控制部分分析与设计

本文主要分析和论述如何利用PLC控制技术,实现机械手的握、举、移等动作,并实现机械手在左右,前后,上下三方向自由运动。本文的主要论述重点在PLC控制部分的分析和设计。     

PLC控制三自由度机械手控制部分分析与设计

本文主要分析和论述如何利用PLC控制技术,实现机械手的握、举、移等动作,并实现机械手在左右,前后,上下三方向自由运动。本文的主要论述重点在PLC控制部分的分析和设计。     

支脚式微动开关自动装配设备设计

微动开关自动装配设备是将微动开关自动安装到电路板上的一种自动化设备,设计的核心部分为微动开关振动分料装置以及抓持机械手,解决了微小元件人工安装效率低下精度不足的问题.主要介绍其机械结构以及分料、抓持、安装的原理,同时也对控制部分加以说明.     

基于PLC的液压机械手控制系统改造

本文叙述了管料冷弯机液压机械手的控制系统改造,主要包括冷弯机液压机械手的液压传动系统、PLC控制系统的设计、机型选择等改造内容。     

Cooperative output feedback control of a mobile dual flexible manipulator

This paper addresses the cooperative output feedback control of a mobile dual flexible manipulator, which is mounted at a moving platform to grasp and move a rigid object. We derive the distributed parameter model with geometric constraints for the dual flexible manipulator system by utilizing the Lagrange multiplier method and the Hamilton’s principle, which avoids the problem of control spillover. This paper considers a case where the states of system are difficult to measure directly and exploits the high gain observer theory to design the state observers for estimating the unavailable states. Then the cooperative output feedback control scheme is developed by the Lyapunov’s method, which enables the cooperative control of the flexible manipulator system. Furthermore, under the cooperative output feedback control scheme, we prove that the states of the system are uniformly bounded. Finally, the feasibility of the designed cooperative output feedback controllers is verified by numerical simulation.     

轮式移动机械手的控制

首先介绍了自行设计和开发的一种轮式移动机械手系统的硬件体系结构,然后提出移动平台和机械手的协调控制问题,考虑了机器人系统中的模型误差和外部干扰不确定因素,设计出鲁棒轨迹跟踪控制器。     

AutoNet64型万能采集控制管理平台

AutoNet64万能采集控制管理平台是国内首创的新一代网络数据库式PLC控制器,已打进军舰和民船建造市场,可以在工业控制领域全面推广,用以全面替代进口设备,降低成本及优化工业控制系统,有较大的意义。本文介绍AutoNet64的特点、关键技术和应用。     

Adaptive robust control for planar n-link underactuated manipulator based on radial basis function neural network and online iterative correction method

This paper presents an adaptive robust control strategy based on a radial basis function neural network (RBFNN) and an online iterative correction method (OICM) for a planar n-link underactuated manipulator with a passive first joint to realize its position control objective. An uncertain model of the planar n-link underactuated manipulator is built, which contains the parameter perturbation and the external disturbance. The adaptive robust controllers based on the RBFNN are designed to realize the model reduction, which makes the system reduce to a planar virtual three-link underactuated manipulator (PVTUM) and simplifies the complexity of the system control. An online differential evolution (DE) algorithm is used to calculate the target angles of the PVTUM based on the nominal model parameters. The control of the PVTUM is divided into two stages, and the adaptive robust controllers are still employed to realize the control objective of each stage. Then, the OICM is used to correct the deviations of all link angles of the PVTUM caused by the parameter perturbation, which makes the end-point of the system gradually approach to its target position. Finally, simulation results of a planar four-link underactuated manipulator demonstrate the effectiveness of the proposed adaptive robust control strategy.     

基于PLC的车载酒精检测智能机械手系统设计

针对目前国内醉酒驾驶日趋严重,为了在源头能够杜绝醉酒驾驶,本文将酒精检测技术与智能机械手技术相结合,提出了一套自动化的酒精检测智能机械手系统。并设计了系统中机械手的结构以及硬件与软件控制方式,从而达到自动化检测的目的。该系统的实现也将是车载酒精检测的一大突破。     

EKF enhanced MPC for rapid attitude stabilization of space robots with bounded control torque in postcapture

Space robots play a more and more important role in on-orbit service missions. It is essential for a space robot to stabilize its attitude rapidly after capturing an unknown target, because of its residual momentum. Regarding uncertainties in inertial parameters of the target, process and measurement, and insufficient measurements, this paper first presents extended Kalman filter (EKF) enhanced model predictive control (MPC) strategy for rapid attitude stabilization of space robots with bounded control torque of the actuator and the manipulator in postcapture, in which motion of the manipulator is planned to make up for the limitation of the actuator. Thanks to the Jacobian matrix, which is required for EKF, the linear varying time-MPC is applied to handle the constraints of the drive torque, which can be solved by the online active set method effectively and efficiently. Simulation has been done for the 2D and the 3D models, and the results show that the whole system, including the base and the manipulator can be stabilized, and inertial parameters of the target can converge to their ideal values with the constraints. In addition, robustness of the presented method has been verified by Monte Carlo simulation.     

Scaled telerobotic control of a manipulator in real time with laser assistance for ADL tasks

In this paper we present a novel concept of shared autonomous and teleoperation control of a remote manipulator with a laser-based assistance in a hard real-time environment for people with disabilities to perform activities of daily living (ADL). The laser pointer enables the user to make high-level decisions, such as target object selection, and it enables the system to generate a trajectories and virtual constraints to be used for autonomous motion or scaled teleoperation. Autonomous, position-teleoperation and velocity-teleoperation control methods have been implemented in the control code. Scaling and virtual fixtures have been used in the teleoperation based control depending on the user preference.A real-time QNX operating system has been used to control a PUMA 560 robotic arm using a Phantom Omni master through a TCP/IP port. A SICK laser range finder was used to for the telerobotic control. The system was implemented with different control modes, and three healthy human subjects were trained to use the system for a pick-and-place task. Data were collected and presented for different control modes, and a comparison between these modes based on the time to complete the task was presented.     

神经网络在数控机床进给系统控制的应用研究

本文结合数控机床进给系统模型,将具有自学习和自适应能力的神经元模型与PID控制算法相结合,形成神经元自适应PID控制器应用于数控机床进给系统中,可以有效地适应各种工况,减少超调量,具有较好的鲁棒性和抗干扰性及跟踪性能。采用仿真和实验结果表明,该控制器具有一定的理论和实际应用价值。