煤仓清仓机械臂系统的设计与实现  

Design and Implementation of Bunker Manipulator Clearance System

作　　者：刘忠超[1] 刘峰[1] 翟天嵩[1] 

机构地区：[1]南阳理工学院电子与电气工程学院,河南南阳473004

出　　处：《煤矿机械》2015年第2期31-33,共3页Coal Mine Machinery

基　　金：河南省重点科技攻关项目(132102210102)

摘　　要：介绍了六自由度机械臂设计的三维模型,并借助于Matlab验证了理论设计的正确性,随后设计了以Atmega1280为控制器的机械臂控制系统硬件,并通过Labview软件实现了上位机监控系统的设计,完成了对机械臂的实时监控。最后给出的测试结果表明所设计的清仓机械臂运动协调灵活,工作平稳,有着更高的清仓效率。Introduces the three dimensional model of six degree of freedom manipulator design and checks the correctness of the theory design with the help of Matlab. Secondly the paper introduces the hardware system of the manipulator using Atmega1280 as the hardware core controller, at the meantime designing of the computer monitoring and control system using Labview software to complete the realtime monitoring of mechanical arm. Finally the test result has showed the clearance manipulator has coordination and the flexible motion, stable work, has a higher clearing efficiency.

关 键 词：清仓 六自由度机械臂 LABVIEW 上位机监控 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]