Delta机器人实验平台下位机控制系统设计

Design of Lower Computer Control System for Delta Robot Experimental Platform

对一种PC+MCU控制器架构的教学型Delta机器人实验平台下位机控制系统进行设计。硬件电路部分使用STM32F103RCT6作为主控芯片,设计了控制、通信和输入输出等关键电路。根据上位机提供的位置信息产生高频脉冲调制信号,步进电机与减速器作为驱动机构,实现各轴的调速和位置控制。配备了RS485接口,利用Modbus协议设置了可实现多台集中控制的功能。在教学内容上设计连续循环动作,实验结果良好,达到预期效果。

The lower computer control system of a teaching Delta robot experimental platform based on PC+MCU controller is designed.In the part of hardware circuit,STM32 F103 RCT6 is used as the main control chip,and the key circuits such as control,communication,input and output are designed.The high frequency pulse modulation signal is generated according to the position information provided by the upper computer,and the stepper motor and reducer are used as driving mechanisms to realize the speed regulation and position control of each shaft.Equipped with RS485 interface,using Modbus protocol to set up a number of centralized control functions.The continuous cyclic action is designed in the teaching content,and the experimental results are good and achieve the desired results.