搬运机械手控制系统的研究

Research on the Control System of Convey Mechanism

对机械手的机械结构、驱动机构和控制系统分别进行了分析。本设计中的机械手有5个自由度,其中手臂的上下和伸缩运动由二相混合式步进电动机驱动,手腕的旋转与底盘的旋转由直流电动机驱动,手爪夹取则采用气压驱动。设计了以ATMEL公司的8051单片机为核心的控制系统,并绘制机械手单片机控制程序流程图,形成一套完整的搬运机械手模型单片机控制系统。

This article to manipulator ＇s mechanism, the driving mechanism and the control system has carried on the analysis separately. In this design＇ s manipulator has five degrees - of - freedom, arm＇s about and the concertina movement step - by - steps the direct motor drive by the two phase mixed style,skill revolving and chassis＇s revolving actuates by the direct current motor, the hand fingernail clamps takes, then uses the gas drive,control system is 8051 SCM of ATMEL as the core, draw manipulator SCM control procedures and procedures for the preparation of the design that form a complete set of material handling robot model SCM control system.