基于S7-200PLC的二自由度气动绢花拾取机械手控制系统设计

摘要

设计了一种基于PLC的二自由度气动绢花机械手的控制系统,该系统具有两种控制方式:自动控制与手动控制.用PLC实现了电磁换向阀的控制,完成机械手手爪开合、手臂伸出以及吸盘与手爪下放等功能,并介绍了其硬件与软件的设计.%A control system of the two degree of freedom(2-DOF)pneumatic manipulator is designed for picking silk flowers based on S7-200 programmable logical controller(PLC).This system was consisted of two control modes,automatic control and manual control. PLC was implemented to control directional solenoid valves,and to complete functions as making the mechanical gripper open or close,the mechanical arm stretch or shrink and push the sucker and gripper down,and etc.Then the design of its hardware and soft-ware is introduced.