Practice of Testing and Control Technology - APS

Big work : PLC

• microcomputer control technology

• bus tech

  • inside chip

  • system

  • communication

    • OSI

      

    • CAN

    • Topology : Mesh， Bus， Star， Ring

• System design

  • safe
  • reliable
  • real-time
  • controlable

  

• PLC

  

  

  

• PLC motor control

  • requirement

    

  • plc choose : Mitsubishi$FX_{1NC}$[I/O]

    • X : Input register
    • Y : Output register
    • M : accessory register

    

    

  • Programming design

    

    

  • simulation : sequence diagram

Small : Gecko setae 6-leg robot

• now : sucking disc, propeller

• aim : quite, energy-saving

• bionic : GeckoSkin , Stexe [ 3 sq in 84kg ]

• Theory : contact model, 30 digrees

  

  

• Outside shape design

  

• drive : motor and electronic speed controller

• sensor

  • magnetoelectric : hall sensor

    

  • posture : 3 axis accelerator MPU-6050

• wiring