多关节新型机械臂设计及其坐标反馈系统研究  被引量:4

A Novel Multi-Joint Manipulator and Its Coordinate Feedback System

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作  者:任立敏[1] 杨忠良 谭益松[1] Ren Limin;Yang Zhongliang;Tan Yisong(School of Mechanical Engineering,Northeast Electric Power University,Jilin Jilin 132012;China Railway Corporation,Beijing 100844)

机构地区:[1]东北电力大学机械工程学院,吉林吉林132012 [2]中国铁路总公司,北京100844

出  处:《东北电力大学学报》2018年第2期34-39,共6页Journal of Northeast Electric Power University

基  金:国家自然科学基金项目(51405074);吉林省科技厅自然科学基金项目(20150101030JC);东北电力大学博士科研启动基金(BSJXM-201423)

摘  要:研制了一种多关节新型机械臂及其实时坐标反馈系统.机械臂由转动基关节、第一俯仰关节和第二俯仰关节三部分组成,转动基关节由轻型薄壁轴承支撑,采用步进电机驱动;第一俯仰关节采用步进电机直接驱动;第二俯仰关节采用步进电机经由同步齿形带驱动.机械臂由MCS-51单片机通过专用驱动器控制,机械臂末端坐标能够通过控制系统在液晶屏上实时反馈.实验表明:该机械臂运动准确,电气控制系统稳定,坐标反馈系统能够实时反映机械臂末端的坐标变化,可以满足该机械臂在科学研究、教学演示等多场合的任务要求.A novel multi-joint manipulator and its coordinate feedback system are developed. The manipulatorconsists of rolling base joint,the first pitch joint and the second pitch joint. The rolling base joint is supportedby a thin wall bearing and is driven by a stepping motor. The first pitch joint is driven by a stepping motor di-rectly. The second pitch joint is driven by a stepping motor via a synchronous belt. The manipulator is con-trolled by MCS-51 single-chip microcontroller through special drivers. Coordinates of manipulator is displayedon the LCD screen in real-time. Experiments show that:the manipulator and its electric system work properly,feedback system can display coordinates in real time,and it can fulfill the requirements of scientific study,teaching demonstration and so on.

关 键 词:机械臂 坐标反馈 步进电机 同步齿形带 

分 类 号:TP29[自动化与计算机技术—检测技术与自动化装置]

 

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