五自由度机器人的结构设计及其控制  

Study on the Mechanical Structure and the Control System of a Robot of Five Degrees of Freedom

作　　者：侯国柱[1] 孔庆忠[1] 武新伟[1] 

机构地区：[1]内蒙古工业大学,内蒙古呼和浩特010051

出　　处：《机械制造与自动化》2007年第2期28-30,共3页Machine Building & Automation

摘　　要：介绍了串联五自由度机器人的机械结构和机器人控制系统的设计。文中设计的五自由度机器人既可以用于实际生产,也可以用于教学和科研。用于实际生产既可以执行点位控制下的操作,也可以执行连续轨迹控制下的操作;用于教学和科研时,该机器人可用于机器人结构分析、机构运动学分析及机器人控制系统的教学演示和实验操作。它具有结构简单、操控方便等特点,而且可以做进一步的研发。This artide mainly introducs the mechanical structure and the design of the control system of a robot with five degrees-freedom. The robot of five degree-freedom design give in this article can be used not only in actual production but also in teaching and research. It can complete the operation in the way of point-to-point control but also in the way of continuous control in actual production. The structure of the robot is simple and it＇s operation is convenient. This robot can be used to analyging the structure and the control system in teaching and research. It is simple in structure,and convenient in operation ＆ further reaserch.

关 键 词：机器人 设计 控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]