三自由度气动教学机械手的研制与应用

Design and Application of 3 Dimensions Teaching Pneumatic Manipulator

针对目前在机电实验设备中缺少机、电、气一体的教学型实验设备的情况,介绍了一种基于气动元件开发的三自由度机械手。该机械手应用四个两种类型的气缸实现所有的动作,并留有底层的控制接口,使单片机(ARM、DSP)、PLC以及计算机可方便地对其进行控制。该机械手可以广泛应用在机械制图的测绘周、气动技术、单片机(ARM、DSP)原理与应用、PLC与电器控制、计算机控制技术等课程的实验以及机电综合实验周、机电产品创新设计等综合性实验中,应用效果理想。

In this paper, a 3 dimensions manipulator is designed as the mechatronics experimental equipment which includes the technique of mechanical, electronics and pneumatic. All movements of the manipulator are completed by four cylinders which are two different types. The lower control interfaces are set in the manipulator so that it can be controlled by MCU（ARM, DSP）, PLC and computer conveniently. This manipulator can be used in experiments of many different courses such as mechanical drawing, pneumatic technique, MCU（ARM, DSP） principle and application, PLC and electrical equipment control technique, PC control technique etc. as well as the mechatronics comprehensive experiment weeks and product innovation design. All of the applications of the manipulator show the experiment effect is ideal.