Ngokusekelwe kwiintsilelo zenkqubo yokulawula i-servo yendawo yesiqhelo ye-fragile sheet manipulators, i-pneumatic palletizing manipulator kunye nenkqubo yokulawula ukuzinza kwe-servo esekelwe kwi-Cartesian coordinates iyilwe.Okokuqala, isiseko esisisiseko seCartesian coordinate palletizing manipulator siyilwe kwaye saziswa, kwaye inkqubo yolawulo lwesekethe ye-pneumatic yeekomityi zokufunxa zokugqibela ze-manipulator ziyilwe kwaye zihlalutywe;ke imigaqo yolawulo yee-motor ze-servo kwi-X, Y kunye ne-Z yolwalathiso lwe-manipulator ihlalutywa kwaye i-algorithm yokulawula i-adaptive feed ye-position system ye-servo yenzelwe;ekugqibeleni, indawo yemveli ivaliwe-loop PID algorithm kunye feed-phambili iadaptive ulawulo algorithm zithelekiswa.Ekugqibeleni, ukuzinza kokulandelela indawo ye-algorithm ye-PID evaliweyo kunye ne-algorithm yokulawula i-adaptive feed ifaniswa.Iziphumo zovavanyo zibonisa ukuba iCartesian ilungelelanisa i-pneumatic palletiser kunye ne-position servo system yolawulo lozinzo ziyilwe kakuhle kwaye zihlangabezana neemfuno zangempela zemveliso.
Ixesha lokuposa: Mar-15-2023
