禽蛋吸运分级机械手设计及研究  

Design and Research of Grading Robot for Eggs Suction and Transportation

作　　者：张兴国[1] 倪远征[1] 姜普泽田[2] 王浩[2] 

机构地区：[1]南通大学机械工程学院,江苏南通226019 [2]南通大学杏林学院,江苏南通226019

出　　处：《机床与液压》2012年第3期115-118,133,共5页Machine Tool & Hydraulics

基　　金：南通大学机械工程学院自然科学项目(2010002);江苏省教育厅大学生实践创新训练计划项目

摘　　要：以关节型禽蛋吸运机械手为研究对象,分析该机械手的本体结构设计。详细阐述了其末端执行器即真空吸运装置的设计过程。该机械手采用基于"工控PC+DSP运动控制器"的分布式控制结构,结合"PID+速度前馈控制"算法,实现各关节的伺服控制,完成各关节的运动规划。Based on the research object of grading robot with joint type for eggs suction and transportation, the structure of the robot was analyzed. Design of the end effector, namely suction and transportation equipment with vacuum techniques, was expounded in detail. The distributed control structure based on ＂IPC and motion controller＂ was adopted in the robot. With the algorithm of ＂PID ＋ speed feed forward control＂, the servo controlling is implemented, and motion planning of all joints is accomplished.

关 键 词：禽蛋分级 机械手 真空吸运装置 分布式控制结构 PID算法 

分 类 号：TP241.3[自动化与计算机技术—检测技术与自动化装置]