5自由度串并联机器人控制系统设计  

Design on the control system of 5 DOF series-parallel robots

作　　者：罗建国[1] 何茂艳[1] 孙学城[1] 黄真[2] 

机构地区：[1]华北科技学院,北京101601 [2]燕山大学机器人研究中心,河北秦皇岛066004

出　　处：《机械设计》2009年第7期19-21,39,共4页Journal of Machine Design

摘　　要：在已构建5自由度串并联机器人的基础上,从硬件和软件两方面,对其运动控制系统进行设计,实现其空间复杂图形的绘制和汉字的书写功能。通过多种运动插补方法实现输出末端的预定轨迹,通过类对象间关系分析得到基于PC的运动控制体系软件层次结构。利用VB语言开发出机器人示教系统的人机交互界面和程序,实现手写联动输入和记忆重现功能。实践证明所设计的硬件控制系统和软件控制系统表现良好,且具备可扩充功能。On the basis of the already constructed 5 DOF seriesparallel robot a design from two aspects of hardware and software on its motion control system has been carried out. The functions of protraction of its spatial complicated figures and the calligraphy of Chinese characters were realized. By means of various motion interpolation methods the prearranged track of the outputting terminal end was realized. Through analysis of the relation between class objects the hierarchy of motion control system software based on PC was obtained. Utilizing the VB language the man-computer interaction interface and program of the robotic demonstration system were developed and the functions of handwriting linkage input and memory reappearance were achieved. It has been proved by practice that the designed hardware control system and the software control system had favourable performances and provided the expandable functions.

关 键 词：串并联机器人 自由度 控制系统 程序 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]