五自由度机械手结构及电气控制设计

Design of Structure and Electrical Control of Five-Degree-of-Freedom Manipulator

提出一种高精度、高效、低耗的机械手,着重介绍了一种五自由度机械手的结构设计和控制系统.该机整体结构由三爪夹手、腕部结构、臂部结构、机座转动机构四部分组成,以STM32F103VET6控制器为核心搭建机械手控制系统.结果表明,该机械手能够实现预定动作路线,完成指定工作.

In order to put forward a manipulator with high precision,high efficiency and low consumption,the structure design and control system of a five-degree-of-freedom manipulator are emphatically introduced.The overall structure of the machine is composed of four parts:three-jaw grip,wrist structure,arm structure and structure of rotating bedplate.The STM32F103VET6 controller is used as the core to build control system.The results show that the manipulator can realize the predetermined action route and complete specified work.