一种排爆机械臂控制系统设计

Design of Control System of an EOD Mechanical Arm

针对具有危险的特种环境,设计一种可以代替人工作业的排爆机械臂。该机械臂采用嵌入式控制系统,以DSP为中央处理核心,用5个步进电机配合铝制合金搭建机械臂硬件结构,利用DSP增强型PWM模块驱动步进电机,上位机采用PC机进行控制,矩阵式键盘作为输入输出模块,控制机械臂,仿生模仿人手的各类运动。实验结果表明:该机械臂有强的承重能力,调节快,实验过程无震荡,达到了设计要求。

An Explosive Ordnance Disposal （EOD） robotarm is designed toreplace manual operation under the special and dan- gerous environment. Five stepper motors were needed to control the mechanical arm in this Digital Signal Processor （DSP） system as the Central Processing Unit （CPU） of an embedded control system, and the hardware structure of the mechanical arm was equipped and buih with Aluminum （A1） alloy. The arm was under the control of the upper Personal Computer （PC） by the DSP enhanced Pulse Width Modulation （PWM） moduleto drive the step motors, using Matrix keyboard as input and output module, imitating all kinds of movement of the human being. The results of experiment show that the mechanical arm has a strong bearing capacity with rapid adjust- ment, and there is no oscillation in the experimental process, which meets the designing requirements.