开放式4自由度教学机器人设计与开发  

Design and Development of Opening 4-DOF Edu-Robot

作　　者：宋健[1] 

机构地区：[1]潍坊学院,机电工程学院,山东潍坊261061

出　　处：《实验室研究与探索》2010年第7期34-36,86,共4页Research and Exploration In Laboratory

基　　金：山东省自然科学基金项目(Y2008G32);山东省高校科研计划项目(J09LG53)

摘　　要：为适应机械电子工程专业教学的需要,设计开发了具有开放式结构的4自由度教学机器人。机器人由4自由度机械手、PC机、伺服驱动系统和运动控制器4大部分组成。采用交流伺服驱动系统的关节驱动方式,设计了结构精巧的关节传动机构。利用DMC运动控制器,搭建了基于PC机的机器人开放式控制系统硬件结构。控制软件采用V isual C++6.0平台开发,人机交互界面友好,并且具有自动操作、示教再现和仿真模拟功能。整机试验测试表明:设计开发的4自由度机器人结构设计合理,重复定位精度为±2.5 mm,控制系统工作稳定可靠,能够满足教学工作的需要。For the sake of the needs of education in mechanical and electrical engineering,the opening 4-DOF robot was designed and developed,which is composed of upper monitor control PC,servodrive system,motion controller and 4-DOF manipulator.The joint driving mechanism was designed exquisitely with YASKAWA AC sever system.The hardware configuration of opening control system was set up based on PC and DMC motion controller.The user-friendly control soft was programmed through Visual C++6.0,which has automatic operation,teaching-playback and analog simulation function.The repeat location accuracy is ±2.5 mm according to repetitious test.The experiments on the complete machine show the robot with 4-DOF works stably and credibly,can meet the demand of teaching job.

关 键 词：教学机器人 结构 控制系统 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]