Design of Control System of Manipulator based on PLC

Manipulator is the traditional task executing agency in industrial robot system, as well as one of the key components of the robot. The mechanical structure of the manipulator consists of ball screw, slider and other mechanical devices; electric aspect consists of AC motor, inverter, sensor and other electronic devices. The device covers programmable control technology, position control technology, testing technology and the like, which is one of the typical instruments of mechatronics. The working principle of the manipulator introduced in this paper is listed as follows. Three routes of pulse output from the PLC respectively actuate the horizontal and vertical axis transducer to control the precise positioning of the horizontal and vertical axis of the manipulator, and the micro switch transmits the position signals to PLC host; position signals are fed back to PLC host by proximity switch, and the opening and closing of manipulator gripper are controlled by the positive inversion of AC motor, to achieve the function of manipulator's precise movement.