摘要
提出一种低成本、可在大范围内作业的码垛机器人系统设计。该系统以STM32为控制核心,利用脉冲波形驱动步进电机进行准确移动,堆垛过程中加入了梯形加减速算法,用于提高定位移动的快速性和稳定性。经调试系统工作正常,该系统设计成本低、堆垛效率较高,具有一定的应用前景。
A low-cost palletizing robot system which can work in a large range was studied.The system took STM32 as the control core,used pulse waveform to drive stepper motor to move accurately,and added trapezoidal acceleration and deceleration algorithm to improve the speed and stability of positioning movement.After debugging,the system worked normally,the design cost of the system was low and the stacking efficiency was high,which has certain application prospects.
作者
毛丽民
陈煜
杨海萍
MAO Li-min;CHEN Yu;YANG Hai-ping(School of Electrical and Automation Engineering,Changshu Institute of Technology,Changshu 215500,China)
出处
《微特电机》
2020年第8期59-62,共4页
Small & Special Electrical Machines
基金
苏州市科技计划项目(SYG201504)。
