Based on the shortcomings of the traditional position servo control system for fragile sheet metal manipulators, a pneumatic palletizing manipulator and position servo stability control system based on Cartesian coordinates is designed. Firstly, the basic structure of the Cartesian coordinate palletizing manipulator is designed and introduced, and the pneumatic circuit control system of the end suction cups of the manipulator is designed and analysed; then the control principles of the servo motors in the X, Y and Z directions of the manipulator are analysed and a feed-forward adaptive control algorithm of the position servo system is designed; finally, the traditional position closed-loop PID algorithm and the feed-forward adaptive control algorithm are compared. Finally, the position tracking stability of the conventional closed-loop PID algorithm and the feed forward adaptive control algorithm are compared. The experimental results show that the Cartesian coordinate pneumatic palletiser and the position servo stability control system are well designed and meet the actual production requirements.
Post time: Mar-15-2023
