多自由度微型机械臂设计与实现  

The Design and Implementation of Multi-DOF Micro-manipulator

作　　者：杨庆[1] 税海涛[2] 汤亚锋[1] 

机构地区：[1]装备指挥技术学院航天装备系,北京101416 [2]国防科学技术大学机电工程与自动化学院,湖南长沙410073

出　　处：《微计算机信息》2010年第26期147-148,165,共3页Control & Automation

摘　　要：空间机械臂面临着轻质化、小型化及低功耗的发展趋势。本文设计了5自由度微型机械臂的机械结构,对驱动电机及配套设备进行了选型。采用上/下位机的控制结构,基于DSP2812和CPLD3128开发了机械臂控制系统。将该机械臂系统固定于卫星模拟器上,采用双目视觉导引方式,对固定目标的关键部件完成了夹取、剪切和插拔等动作。Space Manipulator faces the development trend of lightweight, mini-type and low-power-consuming. The mechanical structure of micro-manipulator with 5-DOF is designed, and the motors？as well as other equipments are selected. With the upper/lower control architecture, the control system is constructed based on DSP2812 and CPLD3128. At last, the micro-manipulator system is fixed on the satellite simulator. Guided by the dual-vision system, the actions, such as clamping, cutting and inserting drawing with a key component of a fixed target, are accomplished.

关 键 词：空间机械臂 多自由度 DSP2812 控制系统 

分 类 号：TP241.3[自动化与计算机技术—检测技术与自动化装置]