3 dimension 6 DOF mechanism based on PLC

LI Bo1， LI Guo-dong2
（1. Shanghai Electric Control Research Institute， China Binqi Zhuangbei Group，Shanghai 200092， China；
2. College of Mechanical Engineering， Hangzhou Dianzi University， Hangzhou 310018， China）

Abstract： In order to solve the problems of bad internal force distribution of space framework structure caused by manual weld assembly precision，the programmable controller was applied in the 3 dimension 6 degree of freedom mechanism's control. After the analysis of space position of joint and bracket in framework structure，a method was presented to guarantee the weld assembly precision of all kinds of joints which using manual control program，automatically return to origin point program and auto run program to control the drive pulse frequency and pulse number designed by SFC stepping instructions. The 3 dimension 6 degree of freedom mechanism controlled by PLC were evaluated on the simulated device and the weld assembly precision of framework structure were tested. The experimental results show that the application of PLC controlling on the 3 dimension 6 degree of freedom mechanism can give full play to the advantage of flexible system configuration and simple installation，and resolve the space positioning problem of framework structure joints.
Key words： 3 dimension 6 degree of freedom mechanism； PLC； grid structure； joint of framework；bracket