城市街区自助图书馆机械手运动规划与力控制系统设计

Manipulator Motion Plan and Force Control System Design of a City Blocks Self-Service Library

城市街区自助图书馆系统是在物联网基础上兴起的文化建设项目,是一种新型的图书馆发展模式。自助图书馆机械手作为图书传输的执行部件,具有借书传输、还书传输、自动分拣的功能,是自助服务效率和安全传输的关键。论文首先介绍了机械手图书传输的实现方式和机械手图书夹持装置的结构,然后对机械手进行了运动规划。在此基础上,基于单片机、运动控制卡和PC机对机械手控制系统进行了设计。市场反馈表明该机械手控制系统运行稳定,很大程度上提高了图书传输的安全性和自助服务的效率。

City blocks self-service library system is a cultural construction project and a new type of library develop- ment model based on the rising of things Internet. The self-service library manipulator, with the ability of book transmission and automatic sorting, is the execution part of book transmission, and it＇s also the key to self-service efficiency and the safety of book transmission. Firstly, the implementation of book transmission by manipulator is introduced in this paper, and then the structure of book clamping device is designed in detail, and then the motion planning of manipulator is constituted. Based on the above, a manipulator control system based on single chip microcomputer, motion control card and computer is carried out. This manipulator control system is stable, and also enhances book transmission safew and self-service efficiency according to the market feedback.