摘要
利用CAD软件建立了机械手主臂的三维模型,通过对机械手主臂进行仿真分析得到其运动轨迹,为机械手主臂液压驱动系统的同步控制策略提供理论数据支撑。通过S7-300PLC内置的PID算法实现了双缸的同步控制。实际应用表明,该方法缩短了产品设计开发周期,提高了机械手的跟踪精度。
The 3D model of the manipulator is established by using CAD software.Through the simulation and analysis of the manipulator,the motion trajectory is obtained,which provides the theoretical data support for the synchronous control strategy of the hydraulic drive system of the manipulator.The synchronization control of two cylinders is realized through the PID algorithm built in S7-300PLC.The practical application shows that this method shortens the product design and development cycle and improves the tracking accuracy of the manipulator.
作者
崔海朋
CUI Hai-peng(Qingdao JARI Industry Control Technology Co.,Ltd.,Qingdao 266061,China)
出处
《机电工程技术》
2019年第6期133-134,170,共3页
Mechanical & Electrical Engineering Technology
基金
山东重大科技成果转化计划项目(编号:2018-3-005-XX)
关键词
摆管机械手
仿真分析
同步控制
双液压缸
pipe-handling manipulator
simulation analysis
synchronization control
two cylinders
