往复移动式气动机械手的精确位置控制系统设计

摘要

介绍了往复移动式气动机械手的结构组成及各部件的作用；设计了气动回路及PLC控制系统的硬件电路；分析了利用旋转编码器进行精确位置控制的原理并设计了部分主要程序。该机械手具有控制简单、运行可靠、位置控制方便、精度准确等特点，已被广泛应用于许多领域。%The structural constitutes of the reciprocating pneumatic mobile manipulator and the function of the various components were introduced in detail. The hardware circuit of the pneumatic part and the Programmable Logic Controller ( PLC) control system were designed;besides, the principle of using rotary encoder for precision position control was analyzed, and the main programs were designed partly. The designed manipulator has some characteristics, such as simple control, reliable operation, convenient position control and accurate precision, which are widely used in many fields.