This design contains the EtherCAT fieldbus system and the PLCopen technology. The control system can not only achieve the motion target but also simulate the Computer Numerial System effectively. Hardware is constituted by embedded IPC, SanyoDenki servo drive and motor system, EtherCAT communication module and I/O module. The PLC program run under the Windows XP system, which install Codesys RTE, so that the whole control system improve the real-time character. Paper focuses on the structure of the control system and the design of the PLC program. The experiments and program results have proved that the control system working well,reaching the pre-set target.
Tube has a complex structure in space, in order to machining tubes of different radius and avoid interference, a new type of Triz bending machine is developed, which has up to eight dies by moving and rotating the head of the machine. The key technology of tube coordinates transformation is solved by the vector algorithm. For the springback problem, a compensation is add to the final working parameters, which can reduce the testing time and the quantity of scraps. Finally the tube bending simulation system for the new machine is developed based on Visual Studio 2010 and Open GL.
The EtherCAT real-time Ethernettechnology that proposed by Beckhoff Company, is now widely used in industrialautomation and in motion control fields. Inthis paper, a slave moduledesign adopted the backplane type iscarried out, based on in-depth study of the ET1200 chip and the Ebusprotocol, including a communication board EKM which regards PIC microcontrolleras microprocessor, a board EKS-IO which is used for digital IO expansion,and a stepping motor control boardEKS-S. Then the overall debuggingand application on a warehousedevice show that the EtherCAT slave controller meets the performance requirements of EtherCAT buscommunication, with better reliability and a certain practical value.
Delta mechanism with the smooth and flexible movement,reliable structure, is a kind of parallel mechanism.Through inversely solving the Delta mechanism space position is to set up a kind of equivalent relationship and through analysis of the mechanism is to solve the rotating angle of the hinge that is between connecting rods that are equivalents of three parallelograms,and the base platform.Through inverse solution of kinematics before building the whole mechanism,the range of the center in mobile platform can be found intuitively from graphics when it is satisfied with the restriction condition.According to requirements, the optimization of mechanical structure can be achieved.
This paper elaborate a design of a new small simple 6-axis robot arm. The design not only can verify the 6-axis motion algorithm, but also have a better property of the economy and the easy-handing. In the mechanical aspect, using the connection method of the single aluminum plate reduce the load effectively. In the control aspect, using stepper motor driven system reduce the cost. This design has a high application value in the process of mechanical arm development.
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