摘要
为提高机器人执行机构的研究水平,全面分析机械臂控制系统设计要点,以六自由度机械臂为研究对象,提出构型选择、电机选择以及硬件设计等方面思考,着重完成关节力度和关节功率的评估,从建模和正运动分析两个方面阐释机械臂控制系统设计基础,最终选择基于CAN总线分布式控制体系为核心,提升控制系统设计效果,有效验证了系统设计方案的可行性。
In order to improve the research level of robot actuator, the key points of manipulator control system design is comprehensively analyzed. Taking the 6-DOF manipulator as the research object, the thinking of configuration selection, motor selection and hardware design is proposed with focus on the evaluation of joint strength and joint power and explanation on the design basis of manipulator control system from two aspects of modeling and forward motion analysis. Finally the distributed control system based on CAN bus is chosen as the core, which improves the design effect of the control system and verifies the feasibility of the system design scheme effectively.
作者
郭美君
Guo Meijun(Liaoning Engineering Vocational College,Tieling 112000,Liaoning)
出处
《电动工具》
2022年第2期5-8,共4页
Electric Tool
基金
辽宁省教育厅2021年度科学研究经费项目(LJKZ1314,LGY202101)。
关键词
工业机器人
机械臂
硬件系统
正运动
轨迹
industrial robot
manipulator
hardware system
forward motion
trajectory
