一类关节式机械手本体及控制系统设计  

Design of an Robotic Mechanical and Control System

作　　者：常丽文[1] 王孙安[1] 

机构地区：[1]西安交通大学机械电子工程研究所,西安710049

出　　处：《机床与液压》2004年第9期115-117,共3页Machine Tool & Hydraulics

摘　　要：文章通过分析一类关节式机械手在系统设计方面所暴露的问题 ,提出了一种新型本体结构设计思路 ,并强化了开放式的机械手控制器设计观念 ,在此基础上开发了一个三关节机械手实例 ,并详细论述了其在本体结构设计以及基于PMAC的控制器软。Some problems existing in system design of three-joint robot arm were analyzed,the new idea of mechanical structure was put forward,and the concept of the open controller was strengthened,based on these analysis, an instance of three-joint robot arm was developed,the characteristics of its mechanical structure and architecture of the PMAC-embedded controller were also explained.

关 键 词：机械手 PMAC 控制器 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]