Yun Chao

Design and Application for Automated Medicine Depositing and Dispensing System of Pharmacy

Firstly, the total design of medicine depositing and dispensing system was provided and the design of mechanical structure is accomplished. Secondly, the hardware of control system was discussed in detailed, and the overall structure of control system was analyzed. According to the characteristic of medicine depositing and dispensing system, main control modules of the system were designed such as AC servo control module, I/O control module, and step-motion control module. Thirdly, with application of multithreading technology, the design of management software module and supervision software module were completed. Finally, based on the analysis of control requirements, control methods for actuating equipments were researched. The program module for control requirements such as synchronous servo motion, returning zero position motion and medicine dispensing count were completed.

Development of Mixed-connection Stacking Robot Based on PMAC

According to the characteristics of series and parallel mechanism, a novel mixed-connection stacking robot was designed based on the functional requirement. The kinematics characteristic was investigated and the closed-formed solutions of both the inverse and direct kinematics were solved. The stacking path planning is given. Control system uses industrial PC (IPC) as its main computer and uses two classes distributed control structure to realize system monitoring and operation management. Main computer harmonizes the movement of every joint and traces path planning accurately. The off-line programming methods of stacking robot is presented in the way teaching and playback, the processing of stacking is researched especially, controlling software of the robot is developed. The applications prove that the robot can meet the demands of stacking in the logistics automation.