| 基于PLC的3自由度机械手的控制系统 |
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| 引用本文： | 刘晓燕,乔文生,陈俭培,王丽君.基于PLC的3自由度机械手的控制系统[J].华北水利水电学院学报,2008,29(3). |
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| 作者姓名： | 刘晓燕 乔文生 陈俭培 王丽君 |
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| 作者单位： | 1. 华北水利水电学院,河南,郑州,450011
2. 北京京航公司,北京,100076 |
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| 摘 要： | 利用"慧鱼"组合模型构建了3自由度机械手的机械模型,并对其运动原理和各模块间的相互作用进行了分析与研究,在此基础上利用PLC实现了机械手的控制过程,对设计中出现的电源不匹配问题,通过使用中间继电器和稳压直流电源对其进行控制.实践表明,整个控制系统运行可靠,为实际3自由度机械手的控制提供了技术参考.
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| 关 键 词： | 3自由度机械手 PLC 行程开关 中间继电器 |
3-DOF Manipulator Control System Based on PLC |
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| LIU Xiao-yan,QIAO Wen-sheng,CHEN Jian-pei,WANG Li-jun.3-DOF Manipulator Control System Based on PLC[J].Journal of North China Institute of Water Conservancy and Hydroelectric Power,2008,29(3). |
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| Authors: | LIU Xiao-yan QIAO Wen-sheng CHEN Jian-pei WANG Li-jun |
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| Abstract: | Fischertechnik has been adopted to establish the 3-DOF manipulator mechanical structure,and the principles of the movement and their interactions between the modules are analyzed and researched.On this basis,the PLC is used to implement the control process of the manipulator.For the problem that power does not match with the equipment that happens during the design,by using the intermediate relays and regulator DC power supply,it is controlled.The practice shows that,the whole control system operation is reliable,and it provids the technical support for the control of the actual 3-DOF manipulator. |
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| Keywords: | PLC |
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