RPPR教学机器人的设计与实现  

Design and Realization of Instructional RPPR-Robot

作　　者：武传宇[1] 贺磊盈[1] 

机构地区：[1]浙江理工大学机械与自动控制学院,浙江杭州310018

出　　处：《实验室研究与探索》2007年第10期34-35,108,共3页Research and Exploration In Laboratory

基　　金：浙江理工大学教学改革项目(yb06018)

摘　　要：介绍了一种圆柱坐标式四自由度RPPR教学机器人,分析了其机械结构组成及运动学求解问题,采用基于PC+DSP运动控制卡的模式构建了其控制系统,控制软件主要功能包括基于轴和坐标系的控制、示教编程和三维仿真等,并具有良好人机交互的控制界面。A kind of instructional RPPR-robot with was introduced. Its mechanical structure and inverse cylindrical coordinate system and four DOF （Degree of Freedom） kinematics were analyzed. Based on the mode of PC ＋ DSP motion control card, the hardware of its control system was constructed. The robot＇s control software was developed with good user interface, and its main function includes axes-based control, coordinate-based .control, teach-program and three dimension simulation etc.

关 键 词：教学机器人 设计 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]