CAJ | 학술논문

采用步进阶梯图设计气动机械手臂的动作流程，根据阶梯图编制简单的P LC程序，并配合传统的电气配线方式，实现对气压回路的顺序控制，完成气动机械手臂对物件的点到点（PTP）的抓取工作，不仅解决了纯气压控制带来的不便，又大大节约了成本，为现场教学和模拟工业现场提供依据。
채용보진계제도설계기동궤계수비적동작류정，근거계제도편제간단적P LC정서，병배합전통적전기배선방식，실현대기압회로적순서공제，완성기동궤계수비대물건적점도점（PTP）적조취공작，불부해결료순기압공제대래적불편，우대대절약료성본，위현장교학화모의공업현장제공의거。
An action flow chart of manipulator with pneumatic tooling was designed by step ladder diagram. A simple PLC was compiled using ladder diagram. With traditional electrical wiring, the sequence control of pneumatic circuit was achieved. A point to point (PTP) crawl for objects was achieved by the pneumatic mechanical arm. The design has not only solved the inconvenience by using the pure pressure control method but also reduced cost significantly, providing basis for field teaching and simulated industrial sites.