用c语言翻译梯形图控制,使用工业机器人及PLC控制的自动化制造单元-英文翻译...

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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.