7R机械臂的研制及用于实践教学的探索  

Development and Exploration of 7R Robot Arm in Practical Teaching

作　　者：付铁[1] 张庆东 丁洪生[1] 李春阳 FU Tie;ZHANG Qingdong;DING Hongsheng;LI Chunyang(School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China)

机构地区：[1]北京理工大学机械与车辆学院,北京100081

出　　处：《实验室研究与探索》2018年第2期196-198,215,共4页Research and Exploration In Laboratory

基　　金：教育部机械基础课程教学/工程训练教学指导委员会教学研究项目(JJ-GX-jy201433)

摘　　要：近年来,以机器人为研究对象开展实践教学活动备受关注。针对当前高校人才培养目标及新形势下的机器人技术人才培养需求,开发了一种具有7个回转自由度的冗余关节式教学机器人。通过分析其工作原理和传动特点,详细设计了该7R教学机器人的机械结构和控制系统。该7R教学机器人可以带动末端执行器按照预设的轨迹、位置和姿态要求完成相应的动作,如码垛、装配、避障等操作。在此基础上,结合现代机器人实践教学特点,并考虑到面向不同层次、不同对象的实践教学内容及教学模式,从认知训练、基础操作训练以及综合与创新训练等方面,规划了一系列的实践教学项目,有利于学生开拓视野,培养技能,提高学生自主学习、综合素质及创新能力。In recent years,the practical teaching on robot has attracted much attention.In view of the current objective of talent cultivation in colleges and universities and the personnel training needs in robot technology,a type of redundant articulated teaching robot arm with 7 rotary degrees of freedom is developed.By analyzing its principle and driving characteristics,the mechanical and control system of the 7 R robot arm are designed to make manipulators complete the corresponding operations according to the requirements of planned trajectory,position and orientation,such as palletizing,assembly,obstacle avoidance and other operations.Furthermore,considering the characteristics of modern practical teaching,the training contents and teaching mode facing different levels and different objects,some training projects based on the 7 R robot arm are presented and designed from the views of cognitive training,operation training,comprehensive and innovation training.The experiment is beneficial for students to broaden their perspective,train their skills and improve their independent learning ability,comprehensive quality and creativity.

关 键 词：7R机械臂 教学机器人 实践教学 创新能力 

分 类 号：G642[文化科学—高等教育学]