Abstract
This manipulator as an important part of the dish washer, mainly by hand, motion mechanism and control system structure, implementation will eat dish from containing fetching plates of box to take dish of mechanism movement. The hand is used to grab the plate, and the motion mechanism enables the hand to complete all kinds of rotation, movement or complex movements to achieve the specified action and change the position of the plate being grabbed. The lifting, stretching, rotating and other independent motion modes of the motion mechanism become the freedom degree of the manipulator. In order to grab all the plates in the box, the manipulator needs 5degrees of freedom, the more it does, the more flexible the manipulator will be, and the more versatile it is. The control system is to complete a specific action by controlling the moter with each degree of freedom of the manipulator. At the same time, it receives the information from the sensor to form a stable closed-loop control.
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