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使用工业机器人及PLC控制的自动化制造单元-英文翻译
关键词 自动化 机械手 可编程控制器 直接和逆运动学
摘要 这项工作包括实现自动化和实施一个制造单元的先前研究。提出的程序包括通过电动引擎来运行在运输系统上操作一个对象。该自动化系统由频率转换器、带有圆柱坐标的三方位自由度机械手、可编程逻辑控制器(PLC)、气动系统和传感器组成。这些传感器用于监视进程还有PLC用来控制整个系统。PLC用梯形图编程。机械臂从初始位置(P0)开始，运输系统对于某些移动对象是通过线性轨迹，从位置P1移到位置P2。采用线性轨迹的方法可以减少整个进程所需的时间。这些轨迹是采用C语言编程，根据Denavit-Hartenberg(D-H)参数评估直接和逆运动学。它作为末稍执行器来运行一个气动系统和吸盘捡起物体。当物体到达运输系统的末端(位置P3)时，整个程序周期结束。最后的结果是一个应用于工业的完全自动化运输的机器人系统。
AUTOMATION OF MANUFACTURING CELL USING AN INDUSTRIAL
ROBOT AND CONTROLLED BY P.L.C.
Keywords: Automation, Robotic Manipulator, PLC, Direct and Inverse Kinematics
Abstract
This work consists of a previous study to
automate and to implement a manufacturing
cell. The process propos ed consists of the
manipulation of an object on a transport system
operated by an electric engine. The automation
system is composed by frequencies converter,
three degrees of freedom robotic manipulator
with cylindrical coordinates, Programmable
Logic Controller (PLC), pneumatic system and
sensors. The sensors are used to monitor the
process and the PLC makes the control of the
whole system. The PLC is programmed in
LADDER. The robotic arm starts from an
initial position (P0) and it moves the object,
through a linear trajectory, from position P1 up
to position P2, certain on the transport system.
The linear trajectory is adopted to reduce time
in the process. These trajectories are
programmed in language “C” program,
according to Denavit-Hartenberg (D-H)
parameters for the eva luation of the Direct and
Inverse Kinematics. It is used as end-effector a
pneumatic system and sucker to pick the object
up. The process cycle is concluded when the
object arrives at the end of the transport system
(position P3). The final result is a fully
automated transport robotic system for
industrial application.
