HITDM-Ⅰ型研磨机器人的研制

RESEARCH AND DEVELOPMENT OF HITDM-I GRINDING ROBOT

本文研制的研磨机器人 HITDM-I 采用示教-再现工作方式,由计算机管理和控制.机器人的示教轨迹由码盘检测,存储于计算机中.机器人的驱动采用两台5相混合式步进电机,本文介绍了步进电机位置控制原理及线路.还介绍了研磨机器人再现速度控制的原理及实现.

This paper describes a grinding robot HITDM-Ⅰ,which adopts teach-playback operating mode and is con-trolled using microcomputer.The teaching movement of the robot is measured by two incremental optical en-coders and the data measured are stored.The two axes of the robot are driven by two stepping motors respec-tively.This paper describes the principal and hardware of the position control of the stepping motors.In ad-dition,this paper describes the principal and implementation of the robot repeating speed control.