Design of Precise Control and Dynamic Simulation of Manipulator for Die-casting Mould

摘要

To meet the demand of the enterprise for the die-casting machine, he overall structure of the manipulator and the controller of each joint were designed. Firstly, The solid model of the manipulator is established; and then, the simplified manipulator model was for dynamics simulation; Finally, through a combination of structural dynamics and dynamics control, established the cooperative control system of the manipulator, designed parameters of each joint motion controller and applied to cooperative control system simulation, joint simulation of manipulator is realized .The simulation results show that the manipulator system has good fast response characteristics and trajectory tracking characteristics, and the overall force results are in accordance with the theory.