气动机械手控制系统设计与多软件联合仿真

针对混流自动化生产线的转运需求,设计一套气动机械手机构,其自适应柔性手指可用于抓取和搬运各种形状、大小的轻质物品。根据系统的控制要求,分别采用FluidSIM-P、GX Works2、KingView软件进行气路设计、PLC编程与界面组态。借助MX OPC Server软件构建数据服务器,提供控制过程数据访问接口,实现多软件协同仿真的数据链接和嵌入。仿真结果显示:各软件间的数据交换实时同步,机械手自动运行过程达到预期效果。此仿真实验方法便于多视角、动态监控机械手的运行状态,为日后投入生产实际应用提供参考。

Design and Multi software Joint Simulation for Pneumatic Manipulator Control System

A pneumatic manipulator was designed to meet the transport requirements of the mixed flow automatic production line. The adaptive and flexible fingers could be used to grasp and carry lightweight articles with various shapes and sizes. According to the functional requirements, the FluidSIM-P, GX Works2 and KingView were respectively used for the design of pneumatic circuit, PLC programming and interface configuration. The virtual server was built with MX OPC Server software to provide data access interface, realize data link and embedding for multi software co-simulation. Simulation results show that the data exchange between the multi software is real time and synchronous,and the automatic operation of the manipulator can achieve the desired effect. This simulation experiment method is convenient to monitor the running state of manipulator dynamically and from multiple perspectives. It can also provide reference for practical application in production in the future.