Electronic cam-based CAM variable assignment method and truss double manipulator

Abstract

The invention relates to an electronic cam-based CAM variable assignment method and a truss double manipulator and aims at solving the problems that a traditional cam mechanism is easy to wear, poor in flexibility and single in trajectory, needs to receive an electronic cam curve provided by a control system by connecting in parallel with a servo and the like. According to the technical scheme atpresent, aiming to avoid the situation that generation of a cam curve is not flexible, and secondary development is relatively difficult in the later stage, the invention creates and designs a CAM assignment method, through assignment on key process points on the electronic cam, interpolation is performed between every two process points through a quintic polynomial algorithm, the electronic cam curve can be flexibly generated online, and the process requirements are met; and meanwhile, a soft platform and a hardware platform of the electronic cam control system are built, experiments verify that an output motion track of the manipulator is more flexible, and the electronic cam-based CAM variable assignment method and the truss double manipulator are formed.

Description

technical field [0001] The invention relates to the technical field of manipulators, in particular to an electronic cam-based CAM variable assignment method and truss double manipulators. Background technique [0002] In automatic production, the cam-type handling manipulator is an important equipment that is often used. Its main function is to transfer materials from the production line to the next process or store them. The traditional cam-type manipulator is a purely mechanical manipulator. The movement curve of the manipulator set by the axis output is realized through a set of cam transmission mechanism, which can realize the material handling of the screen sheet. The mechanical structure of the cam-type manipulator is extremely easy to wear and tear, and the output movement track relatively simple. [0003] In the more common manipulators in industrial production, two sets of cam mechanisms pass through the same output shaft, one set of cam mechanisms controls the upw...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a CAM variable value assignment method based on electronic cams and truss double manipulators, which are used to solve the problem that the traditional truss manipulators in the prior art are not flexible enough, have low strength, cannot control the stroke, and cannot automatically adjust when grasping. Problems such as the path of the truss manipulator, and the complex problem of adjusting the electronic cam curve

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