一种六自由度串联机械臂的研制  

Development of A Tandem 6-DOF Robot Arm

作　　者：陈浩[1] 李腾飞[1] 陈锐[2] 

机构地区：[1]北京航空航天大学机器人研究所,北京100191 [2]重庆大学机械工程学院,重庆400044

出　　处：《机械工程与自动化》2015年第6期14-16,共3页Mechanical Engineering & Automation

基　　金：国家973计划资助项目(2012GB102006)

摘　　要：设计了一款六自由度串联机械臂,并对其机械结构与控制系统进行了详尽的论述。机械臂采用关节式的结构,工作灵活,可达空间大;基于PMAC多轴运动控制器搭建了切实可行的运动控制方案,控制系统具有很好的实时性和可扩展性。实验结果表明研制出的机械臂各关节运转良好,控制系统稳定、可靠,达到了设计目标。In this paper ,a tandem 6-DOF robot arm is designed ,and its mechanical structure and control system are discussed in de-tail .Robot arm adopts the articulated structure ,it works flexibly and has large operating range .A practical motion control scheme is built based on PM AC multi-axis motion controller and the control system has good performance such as real-time and scalability . The experiment results show that each joint of the developed robotic arm is working well and the control system is reliable to achieve the design goals .

关 键 词：六自由度 机械臂 研制 PMAC 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]