Research On Flexible Manipulator Control System Used For Thread Coupling Automatic Disassembly And Assembly

With the development of industrial automation,industrial robot(manipulator)has been widely used in several of departments of industrial production.Especially with the rapidly development of equipment manufacturing in china recently,The application of industrial robot,which can improve the level of equipment manufacturing automation,can raise labor capacity,and can make better the intermational competitive strength of our industrial products,play a decisive role.Industrial robot(manipulator)crucial part is its control system.The Flexible manipulator which has been designed in the paper can automatic disassembly and assembly mechanic parts which have thread coupling.Adopted upon Panasonic A4 series servo system RS232 eommunication protoeol,upper eomputer ean read out of various parameters from upper power cylinder and principal axis servo motor,such as present torque outpute comand pulse counter and feedback pulse counter and so on,and can monitor the state of manipulator.The driving pattern of upper power cylinder and principal axis servo motor adopt PID full-closed circuit position control mode,this can guarantee the precision of manipulator.LCD which follows and displays total operational process makes human-computer interface visualization.According to the require of control system,designs the hardware and software of control system,finally validity of designed and assembled control system is demonstrated by the test-run SP 51 simulator.The Flexible manipulator which can automatic disassembly and assembly mechanic parts which have thread coupling has been designed and manufactured.The production of the paper has been applied disassembly and assembly mechanic parts which have screw thread coupling in special field,which has gained favorable economic and social benefit.