摘要
参照工业机器人结构模型,选用不同类型的电动机为执行器件,搭配高校常用的控制器,设计了一款以树莓派为主控制器的实验教学装置。该装置结合触摸屏、可编程逻辑控制器(Programmable Logic Controller,PLC)、STM32及Arduino,实现对直流/交流伺服电动机、两相/三相步进电动机、总线舵机和数字舵机的驱动,促使学生既能掌握工业机器人基本结构和轨迹规划、运动学正逆解,又可以在该装置上实现多种类型电动机控制方法和多种控制器间通信模式。
Referring to the structural model of industrial robot,with different types of motors as executive devices,combined with common controllers in colleges and universities,an experimental teaching device with Raspberry Pi as the main controller is designed.Combined with touch screen,PLC,STM32 and Arduino,it can drive DC/AC servo motor,two-phase/three-phase stepping motor,bus steering gear and digital steering gear.Students can master the basic structure,trajectory planning,forward and inverse kinematics solutions of industrial robots,also practice various types of motor control methods and communication modes between controllers on the device.
作者
刘国浩
LIU Guohao(Dongchang College of Liaocheng University,Liaocheng 252000)
出处
《现代制造技术与装备》
2022年第5期1-3,共3页
Modern Manufacturing Technology and Equipment
基金
聊城大学东昌学院资助项目(2020LG002)。
关键词
工业机器人
电动机
控制方法
通信模式
industrial robot
motor
control method
communication mode
