摘要
介绍了一种由并联机构设计制作的平面微雕演示系统。根据平面微小并联机器人系统的功能设计要求,在机器人系统的机构、控制分析的基础上,提出了新型的平面5杆微雕系统,并于设计阶段引入正逆向求解,适当的限定条件保证了坐标变换和运动轨迹规划的唯一性。在控制上,建立了计算机人机界面,经过和单片机的通讯以实现对系统的输出的控制,最后完成了整个系统的软硬件设计及设备制作。
A convenient and effective close loop control scheme,based on the analysis of the robot structure and its control link,has been proposed to satisfy the 2D mini-parallel-carve robot design in this paper.With the introduction of sequent deduction and reversed,but more important,with the adoption of the proper restriction to reassure the exclusive result of coordinate transformation and movement planning.Man-achine interface is established by VC＋＋.The output of system is controlled by single chip computer with communicating from main computer.The design of hardware and software is completed.The equipment is designed and completed finally with sastified conclusion.
出处
《机械》
2007年第9期68-69,共2页
Machinery
关键词
微小并联机器人
结构分析
平面五杆机构
控制
micro parallel robot
structure analysis
plane five-bar mechanism
control
