智能机械手臂的设计研究

The design of the intelligent robotic arm

首先介绍了机械手臂的机械结构、机械手臂的控制器和机械手臂的控制算法等基础技术;然后设计了机械手臂组合机构,主要包括机械臂的传动机构、手部旋转机构、夹爪倾斜机构和抓取机构;并在此基础给出了智能机械手臂的控制方案,重点描述了机械手臂伸展轴和升降轴的控制、手部旋转轴、夹爪倾斜轴的控制和抓取轴的控制。

This paper introduces the mechanical structure of the mechanical arm, mechanical arm controller and the control algorithm of mechanical arm based technology ; Then design the mechanical arm combination mechanism, mainly including the transmission system of the mechanical arm, hand rotation mechanism, grip tilting mechanism and grasping mechanism;And based on this, gives a control scheme of intelligent robotic arm, focusing on the control of mechanical arm outstretched shaft and elevator shaft rotation, hand, grip inclined axis and grab the control of axis control.