使用工業(yè)機(jī)器人及PLC控制的自動(dòng)化制造單元-英文翻譯


關(guān)鍵詞 自動(dòng)化 機(jī)械手 可編程控制器 直接和逆運(yùn)動(dòng)學(xué)

摘要 這項(xiàng)工作包括實(shí)現(xiàn)自動(dòng)化和實(shí)施一個(gè)制造單元的先前研究。提出的程序包括通過(guò)電動(dòng)引擎來(lái)運(yùn)行在運(yùn)輸系統(tǒng)上操作一個(gè)對(duì)象。該自動(dòng)化系統(tǒng)由頻率轉(zhuǎn)換器、帶有圓柱坐標(biāo)的三方位自由度機(jī)械手、可編程邏輯控制器（PLC）、氣動(dòng)系統(tǒng)和傳感器組成。這些傳感器用于監(jiān)視進(jìn)程還有PLC用來(lái)控制整個(gè)系統(tǒng)。PLC用梯形圖編程。機(jī)械臂從初始位置（P0）開(kāi)始，運(yùn)輸系統(tǒng)對(duì)于某些移動(dòng)對(duì)象是通過(guò)線性軌跡，從位置P1移到位置P2。采用線性軌跡的方法可以減少整個(gè)進(jìn)程所需的時(shí)間。這些軌跡是采用C語(yǔ)言編程，根據(jù)Denavit-Hartenberg(D-H)參數(shù)評(píng)估直接和逆運(yùn)動(dòng)學(xué)。它作為末稍執(zhí)行器來(lái)運(yùn)行一個(gè)氣動(dòng)系統(tǒng)和吸盤(pán)撿起物體。當(dāng)物體到達(dá)運(yùn)輸系統(tǒng)的末端（位置P3）時(shí)，整個(gè)程序周期結(jié)束。最后的結(jié)果是一個(gè)應(yīng)用于工業(yè)的完全自動(dòng)化運(yùn)輸?shù)臋C(jī)器人系統(tǒng)。


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.