多操作机排牙机器人的下位机控制系统设计  

Design on the substructure control system for multi-manipulator tooth arrangement robot

作　　者：张永德[1] 姜金刚[1] 赵燕江[1] 汪洋涛[1] 

机构地区：[1]哈尔滨理工大学智能机械研究所,黑龙江哈尔滨150080

出　　处：《电子技术应用》2007年第11期125-128,共4页Application of Electronic Technique

基　　金：国家自然科学基金项目(50675054);黑龙江省科技厅攻关计划项目(GC03A514)

摘　　要：为了满足多操作机排牙机器人实现人类全口义齿排牙对实时性和准确性的需要以及解决对大批量步进电机进行控制的难题,提出采用主从式单片机控制方案,开发了基于MSP430单片机的多操作机排牙机器人下位机控制系统。详细介绍了多操作机排牙机器人的结构及工作过程、多操作机排牙机器人下位机控制系统的硬件实现和软件系统。实验结果表明,该控制系统设计合理,具有控制精确、开放性好、可靠性高等优点。In order to satisfy the demands of real-time performance and veracity, and simultaneously solve the difficult problem of realizing the control of large quantities of stepper motor, this paper puts forward the control scheme of master-slave single chip microcomputer, and develops the substructure control system of multi-manipulator tooth arrangement robot based on MSP430. This paper introduces detailedly the structure of multi-manipulator tooth-arrangement robot, the hardware realization and software system of the substructure control system of multi-manipulator tooth arrangement robot. The experimental results indicate that the design of control system is reasonable and has the advantages of precise controlling, well opening performance and high reliability, and so on.

关 键 词：多操作机 全口义齿 步进电机 MSP430 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]