基于STM32控制的小型机械手的研究

Design of a small mechanical arm based on STM32

物料的输送和搬运是生产线上重要的一道工序,利用机械手作为执行装置,可以减少人工成本、降低车间工人的工作强度。提出了基于STM32单片机控制的物料搬运机械手系统,分别对机械结构、运动方程、控制系统的硬件及软件进行了设计。该系统利用C语言编写控制程序,通过单片机输出脉冲宽度调制(PWM)信号控制舵机实现对机械手动作控制。

The conveying and handling of materials is an important process on the production line.Using the manipulator as the execution device can reduce labor costs and reduce the work intensity of workers in the workshop.In this paper,a material handling manipulator system based on STM32 single-chip microcomputer control is proposed,and the mechanical structure,motion equation,hardware and software of the control system are designed respectively.The system uses the C language to write the control program,and controls the steering gear through the output pulse width modulation(PWM)signal of the single-chip microcomputer to realize the action control of the manipulator.Experiments show that the system has the advantages of high efficiency,high reliability and simple operation.