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??????????????????к?????????????????? ?????????????????????? ?????????PLC? ???к?й????????а???? ????????? FMSisatrendofindustrydevelopmentinfuture.Feedingmanipulatorisanessentialpartofproductioncirculation.Asmodernindustrialdevelo,theoldartificialstackinghasfailedtomeettheneedsofrapidandaccurateautomatedproduction.Theresearchofstackingmanipulatorisveryimportanttoreleasepeoplefromtheheavyfeedingworkassoonaspossible.Thispaperintroducedthebitfeedingmanipulator'sprincipleofwork,theuniquefeatureandthedesignindetail,atthesametime,ithasmadetheconcretedescriptionandtheysisonthefeedingmanipulator'ssystemdesignprocessandthe manipulator'shand,armrevolving,foundation'srotationandadvancedgear.Inthearticlethroughabovevariousmachinepart'sdesign,thecomputationandtheexamination,hasrealizedthemanipulator4degrees-of-dom,thepath,thetravelingscheduleandvariousaspectsrequest. Astothedrivepart,Iselectthemachinerydrivetype,separaycarrieshecomputationandthedesigntothemechanicalsystemandthemechanicaldriveway.Regardingtothecontrolsystem,Ihavecarriedontheconciseintroduction,andhavechosenthePLCcontrolsystem.Throughtheabovethreepartsofdesigns,Idesignadeliverthesmall-scalefeedingmanipulatorofFMStoreachanaiminthedesign. feeding,manipulator,control ··1庭?????1 ???1 學(xué)2情密庭???學(xué)2情密必??學(xué)3情密 ?學(xué)3?5 ?? ?????5 ????????6必密必密庭????6必密必密必6?3???????????密庭?????? ??????情密必密庭?????情密必密必喯??????? ?????????情密情密庭?????情密情密必喯??????情密情密情喯??????情密情密感??????情密情密護(hù)┊????? 情密感密 ????? ?????? ?ㄟ??????? ?ㄟ????????? ?ㄟ????????·感密庭?????? 緊種點(diǎn)?????感 必緊種點(diǎn)???????僔感密必 緊種點(diǎn)?????? ?感密必密必?????? ?????緊種點(diǎn)感密必密情???????о????感密必密感??? ?度 ?度定度????? ?а? ??????亴???????????

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