小型5自由度关节式机器人

Smalls-ize 5 Free-degree Joint Type Robot

小型 5自由度关节式机器人采用组装式机械结构、敞开式布置 ,传动系统以齿形带—齿轮传动为主 ,各关节由混合型 4相步进电机驱动、手爪开合由力矩电机驱动 .实行两级计算机控制 ,各驱动动作由微处理器或单片机控制 ,运动计算和作业管理等由微型计算机完成 .机器人位置问题正解采用齐次变换矩阵法解算 ,逆解采用只保证位置的插值算法 .该机器人具有小型、轻便、机构尺寸合理、技术指标先进等特点 ,可用于教学培训、机器人科研及自动线上。

Small-size 5 free-degree joint type robot adopts assembling mechanical construction and opening disposal. Its transmission system mainly uses synchronous belt and gear transmission; its joints are driven by a mixture-type 4 mutual step-motor; its opening and closing paws are driven by a moment motor. It has twain step computer control; every driving action is controlled by a microprocessor or a SCM. A microcomputer accomplishes kinematics calculation and task management. The positive algorithm of robot positions is solved by the same power transformation matrix method, while the negative algorithm adopts interpolating method ensuring the position only. The robot is small-sized, easy to carry, technologically advanced. It can be applied in teaching and training, in robot research and in loading and unloading on an assembly line.