一类关节式机械手本体及控制系统设计

Design of an Robotic Mechanical and Control System

文章通过分析一类关节式机械手在系统设计方面所暴露的问题 ,提出了一种新型本体结构设计思路 ,并强化了开放式的机械手控制器设计观念 ,在此基础上开发了一个三关节机械手实例 ,并详细论述了其在本体结构设计以及基于PMAC的控制器软。

Some problems existing in system design of three-joint robot arm were analyzed,the new idea of mechanical structure was put forward,and the concept of the open controller was strengthened,based on these analysis, an instance of three-joint robot arm was developed,the characteristics of its mechanical structure and architecture of the PMAC-embedded controller were also explained.