Abstract: Robots replacing people is an effective way of traditional stamping production industry technology upgrading. The design of four degrees of freedom moving manipulator with controller MP2300S is presented. The manipulator is composed of four moving parts, such as a rotational base, a moving vertically upper arm, a stretching horizontally forearm and a rotating gripper, each of which is actuated by AC servo motor. The centralized control mode that a multi-axis motion controller could control dozens of different robots whose axises are driven by AC servo motors is achieved. The results of test show that the robot could move quickly and smoothly from one place to another in the range of motion. The maximum period of the operation time is no more than 8 second per piece and the repeat positioning accuracy is 0.1 mm.

Key words: Multi-axis motion controller, handling manipulator, central control mode, AC servo motor

摘要： 机器换人是传统冲压生产产业技术升级的一种有效途径，提出了一种基于多轴运动控制器（MP2300S）的四自由度冲压搬运机械手集中式控制设计方案。该机械手结构由旋转底座、垂直移动上臂、水平伸缩前臂和转动手爪等4个运动部件组成，每个运动轴均采用交流伺服电机驱动。多轴运动控制器可同时控制数10个同类型的机械手的运动轴，实现多个机器人共用1个控制器的集中式控制。调试结果表明：机械手在设计的空间运动范围内，能够实现空间任意2个位置之间快速平滑移动，最高节拍可达8 s/个，重复定位精度可达0.1 mm。

关键词: 多轴运动控制器, 搬运机械手, 集中式控制, 交流伺服电机