| 基于智能交流接触器的采摘机器人机械臂设计 |
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| 引用本文： | 王臻卓,李伟,范乐.基于智能交流接触器的采摘机器人机械臂设计[J].农机化研究,2017(6):209-213. |
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| 作者姓名： | 王臻卓 李伟 范乐 |
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| 作者单位： | 1. 河南工业职业技术学院,河南南阳,473000;2. 国家电网山东栖霞市供电公司,山东栖霞,265300 |
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| 基金项目： | 河南省科技攻关项目(152102410036) |
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| 摘 要： | 在充分考虑机械臂伺服电机智能速度检测装置的结构和闭环运动过程控制的基础上,将智能交流接触器引入到了采摘机器人机械臂关节伺服电机的反馈控制中,并建立了PID闭环反馈调节回路,有效地提高了机械臂的控制精度。同时,将智能交流接触器以速度控制函数的形式嵌入到了PID控制环节,采用ADMAS和MatLab软件对机械臂的轨迹控制精度进行了测试,并利用Mat Lab软件计算得到了关节的控制变量,以Spline形式将变量导入到了ADMAS中对机械臂两关节进行控制。通过仿真得到了机械臂关节的输入和输出位移随时间变化曲线和机械臂末端的运动结果,结果表明:输入和输出的位移基本吻合,并且机械臂末端可以按照预定的圆环轨迹运动,从而验证了智能交流接触器PID控制的控制精度。
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| 关 键 词： | 采摘机器人 机械臂 交流接触器 闭环运动 |
Design for Picking Robot Manipulator Based on Intelligent AC Contactor |
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| Wang Zhenzhuo,Li Wei,Fan Le.Design for Picking Robot Manipulator Based on Intelligent AC Contactor[J].Journal of Agricultural Mechanization Research,2017(6):209-213. |
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| Authors: | Wang Zhenzhuo Li Wei Fan Le |
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| Abstract: | With the consideration of the manipulator servo motor speed intelligent detection device structure and closed -loop motion control , intelligent AC contactor is introduced to the picking robot manipulator joint servo motor feedback control , and the establishment of the PID closed-loop feedback control loop , effectively improve the control precision of the manipulator .Finally intelligent AC contactor with speed control function in the form of embedded to the PID control link, using ADAMS and MATLAB software of the manipulator trajectory control accuracy were tested , and joint control variables are calculated by using the MATLAB software , to spline form the variable guide into the ADMAS of two joint manipulator control .Through the simulation of the manipulator joint input and output displacement versus time curves and the end of arm motion results ,the results of the experiment show that ,the displacement of the input and output consistent , and end of the mechanical arm can be in accordance with predetermined circular trace motion , thus validating the intelli-gent PID control of AC contactor control precision . |
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| Keywords: | picking robot mechanical arm AC contactor closed loop motion |
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