自动称重桌面机械臂的设计与应用  

Design and application of automatic weighing desktop manipulator

作　　者：章浩 张龙[1] 朱震[1] 龚志文 ZHANG Hao;ZHANG Long;ZHU Zhen;GONG Zhiwen(He f ei Institutes of Physical Science,Chinese Academy of Science,Hefei 230088,China;Science Island Branch of Graduate School,University of Science and Technology of China,Hefei 230026,China)

机构地区：[1]中国科学院合肥物质科学研究院应用技术研究所,合肥230088 [2]中国科学技术大学研究生院科学岛分院,合肥230026

出　　处：《中国科技论文》2018年第8期859-864,共6页China Sciencepaper

摘　　要：设计了用于自动称重吸烟机核心部件的桌面机械臂及其控制系统,对所设计机械臂的结构进行运动学分析,得到以关节角度为变量的运动学模型,并利用MATLAB进行仿真验证;根据机械臂的控制要求,设计了可编程逻辑控制器(PLC)和运动控制模块组成的控制系统。进行的重复性定位实验和最后的实际测试应用结果表明,所设计的自动称重机械臂系统可以高效地完成整个称重工艺流程,提高检测的效率、精度和自动化程度。A desktop manipulator and its control system for the automatic weighing the core components of the smoking machine were designed.The kinematics of the manipulator was analyzed depending on the structural characteristic,obtaining the kinematics model with angle variables and simulation results verified the correctness of the kinematics equation by using the MATLAB.According to the control requirements of the manipulator,the control system composed of PLC and motion control module were designed and a repeatability positioning experiment and the final practical test application are conducted.Results showed that the automatic weighing manipulator system can complete the entire weighing process efficiently and improved the detection efficiency,accuracy and the degree of automation.

关 键 词：桌面机械臂 运动学 可编程逻辑控制器 运动控制 

分 类 号：TS43[农业科学—烟草工业] TP241[自动化与计算机技术—检测技术与自动化装置]