用于菌种生产的轻型六轴机械臂的设计研究

摘要

菌种生产技术是现代生物技术和自动化技术的结合。随着菌种呈现大规模、高品质的生产要求，对生产线的智能化也要求越来越高。本文针对这一情况设计研究了一种用于菌种生产的轻型六轴机械臂，可用于菌种生产过程中投料、转运、取样检测等操作。首先，利用模块化设计思想和虚拟样机技术设计了机械臂的结构三维模型；然后完成了基于IPC+TwinCAT平台+EtherCAT总线技术的运动控制系统开发。为后续机械臂样机制造、误差标定、机电耦合调试、优化设计等提供重要支持。%Strain production technology is the combination of modern biological technology and automation technology. With large-scale, high-quality strains production requirements, the production line also requires more and more intelligence. According to this situation, this paper researches on a 6-DOF light-weight manipulator, which can be used to feed, transport and sample inspection in the process of strain production. First the 3D model of the manipulator is built by using modular design and virtual prototyping technology. Then motion control system of the manipulator based on IPC+TwinCAT System+EtherCAT bus technology is carried out. The study results provide an important reference for the structural modification, error calibration, motion control and parametric optimal design of the manipulator.