安全遮拦收放机械臂控制系统设计与实现

摘要

针对安全遮拦存在重量大,不易搬运等问题,设计了一款专门用于收放安全遮拦的新型机械臂.机械臂采用三个通用线性模组和一个旋转平台进行搭建,根据运动学模型,对机械臂进行轨迹规划,以PLC为控制核心,采用PTO模式控制步进电机,实现了机械臂的轨迹控制.实验结果表明:机械臂能准确将安全遮拦放置在指定位置,可实现多个安全遮拦的连续自动收放.%Aimed at the problems of heavy weight and difficult handling of the secure cordon rod, a new type of manipulator is designed for collecting and placing secure cordon rod.Three universal linear modules and a rotating platform are used to complete hardware structure of the manipulator.The trajectory planning of the manipulator is based on the kinematics model.In this system, PLC is used as central processing core, the PTO module is used for driving the stepper motors to realize the trajectory control of the manipulator.The experimental results show that the manipulator can accurately place the secure cordon rod in the specified position, which can realize the continuous automatic collection and placement of the multiple secure cordon rods.