| 装箱机械手及其控制系统的设计 |
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| 引用本文： | 赵德安
,许建中
,李金伴
,项文新.装箱机械手及其控制系统的设计[J].江苏大学学报(自然科学版),1988(4). |
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| 作者姓名： | 赵德安 许建中 李金伴 项文新 |
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| 摘 要： | 本文介绍连杆式装箱机械手的结构原理,并根据装箱动作要求,对其主体机构进行了优化设计,优化后的机构不但能满足装箱轨迹的精度要求,还具有较好的传力性能。在控制系统中介绍了由单片机控制的双路快速伺服系统的原理和结构。阐述了快速定位的原理和控制规律,提出一种利用转速与偏差的比值进行开关控制和线性控制切换的双模控制方式。
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| 关 键 词： | 机械手 连杆机构 优化设计 双模控制 单片微机 伺服系统 |
Design of Loading Manipulator and Its Control System |
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| Zhao Dean Xu Jianzhong Li Jinban Xiang Wenxin.Design of Loading Manipulator and Its Control System[J].Journal of Jiangsu University:Natural Science Edition,1988(4). |
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| Authors: | Zhao Dean Xu Jianzhong Li Jinban Xiang Wenxin |
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| Institution: | Zhao Dean Xu Jianzhong Li Jinban Xiang Wenxin |
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| Abstract: | Structural principles are introduced of linkage loading manipulator, and design of its main mechanism optimized to meet the requirements of its loading movement. Optimized mechanism can reach the accuracy needs of loading track, and show higher efficiency. Principles and construction of fast double-way servosystem controlled by a single-chip microcomputer are expounded with principles and control rules of fast positioning, and then, dual-mode control method in which Bang-Bang control is changed into linear control according to the ratio of velocity to position error. |
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| Keywords: | manipulator linkage optimum design dual-mode control single-chip microcomputer servosystem |
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