机械手终端执行器微机控制

一、设计要求

为满足快速性要求，把控制阶段分为三个阶段：

（1）加速阶段，初始位置为夹钳最大开度0.2m，加速时间为0.5s。

（2）减速阶段，起始阶段为夹钳接触玻璃容器开始，减速最大行程为5mm，以上两个 阶段采用开环控制，以提高响应速度。

（3）位置闭环控制，这时传感器开始有输出，起始位置为减速结束时的位置。

（4）要求抓取时的动作快且不损坏，，ts1.5s精度0.1mm.

二、控制器的设计过程和控制方案

(1)各个阶段数值的计算

SIMULINK仿真图，时间设为2秒

Step1设加速阶段，电压0.06V；

Step2设置为到达0.5秒时停止加速，进入减速阶段电压为-0.36；

Step3设置为减速阶段持续0.025秒，总时间0.525s,减速度停止，电压0.42V.

Step，step4设总时间0.525s,传感器电压4.98v-Manipulator terminal actuators microcomputer control

One, the design requirements

To meet the requirements of rapidity, the control phase is divided into three stages:

(1) the acceleration phase, the initial position for the clamp of the opening of the largest 0.2 m, the acceleration time of 0.5 s.

(2) the deceleration phase, starting stage for contact clamp glass containers, deceleration range is 5 mm, more than two stages using open loop control, in order to improve the response speed.

(3) the position closed-loop control, the sensor then began to have the output, the starting position for slow down at the end of the place.

(4) when you grab the fast and is not damaged, and ts1.5 s precision is 0.1 mm.

Second, the controller design process and the control scheme

(1) at various stages of numerical calculation

SIMULINK simulation diagram, set to 2 seconds

Step1 set accelerating stage, the voltage of 0.06 V.

Step2 set to reach 0.5 seconds to stop acceleration, enter decelerat