Dangane da gazawar tsarin kula da matsayi na gargajiya na servo don manipulators ɗin ƙarfe mara ƙarfi, an ƙera manipulator palletizing pneumatic da tsarin kula da kwanciyar hankali na servo dangane da daidaitawar Cartesian.Da fari dai, an ƙirƙira da kuma gabatar da ainihin tsarin na Cartesian coordinate palletizing manipulator, kuma an ƙirƙira da kuma nazarin tsarin kula da da'ira na pneumatic na ƙarshen tsotsa na manipulator;sannan ana nazarin ka'idodin sarrafawa na servo Motors a cikin X, Y da Z kwatance na manipulator kuma an tsara tsarin daidaitawa na ciyarwa mai daidaitawa na tsarin servo matsayi;a ƙarshe, an kwatanta matsayin al'ada rufaffiyar-madauki PID algorithm da ciyarwa-gabatar da daidaitawar sarrafa tsarin sarrafawa.A ƙarshe, an kwatanta kwanciyar hankali na bin diddigin matsayi na al'ada rufaffiyar madauki PID algorithm da ciyarwar ciyarwa na daidaitawa na daidaitawa.Sakamakon gwaji ya nuna cewa Cartesian daidaitawa pneumatic palletiser da tsarin kula da kwanciyar hankali na matsayi an tsara su da kyau kuma sun cika ainihin bukatun samarwa.
Lokacin aikawa: Maris 15-2023
