"多用途气动机器人结构设计与控制方案研究"

The document "Structural Design of Multi-purpose Pneumatic Robot" provides a comprehensive overview of the design and operation of an industrial pneumatic robot controlled by a PLC system. It discusses the components of a robotic arm, the principles of PLC control, the design of various parts of the robot, the characteristics of pneumatic technology, and the unique features of PLC control. The paper outlines the overall design of the robot, including the coordination form and degrees of freedom, as well as the technical parameters of the robot. It describes the design of the gripping hand structure, wrist structure, and arm structure of the robot, calculating the required torque for wrist rotation and the driving torque of the rotating cylinder. Furthermore, the paper details the design of the pneumatic system for the robot and includes a schematic diagram of the pneumatic system's operation, which improves the efficiency and quality of drawing. The robot is controlled using a programmable logic controller (PLC), with a suitable model selected for the task. The control scheme for the robot is developed based on its operational workflow, and a timing diagram for the robot's operation is created, along with the programming for the PLC control. In conclusion, the document highlights the significance of industrial robots and their role in automation, emphasizing the importance of efficient design and control systems such as PLC technology. Overall, the paper provides a thorough exploration of the structural design and operation of a multi-purpose pneumatic robot, offering valuable insights into the field of robotics and automation.