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LabVIEW real-time module based pneumatic manipulator control system

A technology of a pneumatic manipulator and a control system, applied in the field of machinery, can solve problems such as inconvenience in use, and achieve the effects of convenient adjustment and simple structure

Inactive Publication Date: 2018-06-01
胡威
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] At present, most servo robots are driven by motors or hydraulics, which is extremely inconvenient to use in flammable and explosive environments
With the continuous development of pneumatic servo technology, it has been able to meet some industrial sites with multi-point positioning, but there are still some difficulties in industrial occasions that require more complex and finer functions, such as painting robots, gluing robots, etc. Control has higher requirements

Method used

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  • LabVIEW real-time module based pneumatic manipulator control system
  • LabVIEW real-time module based pneumatic manipulator control system

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Embodiment Construction

[0014] The present invention will be further described below in conjunction with drawings and embodiments.

[0015] Such as figure 1 , 3 white by degrees pneumatic manipulator belongs to joint series robot, its movement is similar to human limbs, and consists of three joints of waist, upper arm and forearm.

[0016] The waist is a rotary motion, which is realized by a single rack and pinion swing cylinder driven by a flow proportional valve. The rotary encoder is connected with the rotation shaft of the waist through a 1:4 synchronous pulley to detect the angle signal; the large and small arms are pitching motions , is realized by driving a single-rod double-acting cylinder with a flow proportional valve. The rotary encoder is connected to the corresponding pitching axis of the large and small arm joints through a 1:4 synchronous pulley to detect the angle signal. In this way, the closed-loop control of single joint is realized, and then the spatial motion control of the end ...

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Abstract

The invention provides a LabVIEW real-time module based pneumatic manipulator control system. The LabVIEW real-time module based pneumatic manipulator control system is characterized in that the manipulator control system is manufactured through a LabVIEW real-time module; the route planning, the anti-resolution of kinematics and the joint controller related algorithms enable the real-time controlof three movement joints; the result of trajectory tracking test is satisfactory, so that the foundation is provided for further industrial application. A rapid control prototype treating the LabVIEWreal-time module as a framework is simple in structure and convenient to adjust, and applicable to test research of some control algorithms; and a good test platform is provided for the industrial application of the system.

Description

technical field [0001] The invention relates to a pneumatic manipulator control system based on a LabVIEW real-time module, which is suitable for the mechanical field. Background technique [0002] With the continuous development of measurement and control systems, users have higher and higher requirements for system reliability and time certainty, so many real-time measurement and control modes and software have emerged, such as RTW (including RTW WindowsTarget and xPC Target, etc.); ControlDesk of German dSPACE company; RT-LAB of Canadian OPAL-RT company; Easy-5 of Boeing company, etc. [0003] Among them, the LabVIEW RT system developed by American NI Company has been widely used because of its simple graphical development environment, high reliability and time certainty. The development and operation of LabVIEW RT requires specific hardware target support. In the past, RT modules mainly supported three types of hardware methods: RT series plug-in boards, RT series PXI, ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J13/00B25J17/00
CPCB25J9/161B25J9/1664B25J13/00B25J17/00
Inventor 胡威
Owner 胡威
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