基于S7-200PLC对机械手的运动进行一系列控制,这些运动包括手臂上下、左右直线运动,手腕旋转运动,手爪夹紧动作和机械手整体旋转运动等。所采用的动力机构是步进电机,能够做到精确控制。在多个行程开关传感器的保护下,保证了这些运动万无一失。 Based on the S7-200PLC, a series of control is carried out on the movement of the manipulator. The movements include the movement of the arm up and down, the left and right rectilinear motion, the wrist rotating movement, the gripper gripping and the manipulator rotating as a whole. The power mechanism used is a stepper motor, which can be precisely controlled. Under the protection of multiple limit switch sensors, these movements are guaranteed to be foolproof.