舵机构成的六自由度示教型机械手臂设计  

Design of Steering Gear Manipulator of Teaching with Six Degrees of Freedom

作　　者：肖振兴[1] XIAO Zhenxing(School of Electronic Technology,Liuzhou Railway Vocational Technical College,Liuzhou 545616,China)

机构地区：[1]柳州铁道职业技术学院电子技术学院,广西柳州545616

出　　处：《自动化仪表》2021年第6期68-71,共4页Process Automation Instrumentation

摘　　要：机械手臂在工业生产、灾难救援、手术医疗等方面有着广泛的应用。我国目前在设计和生产机械手臂上创新不足,与国际先进的生产商也有着巨大的差距。加大这方面的专业人才培养必须要有对应的实践操作设备。目前,机械手臂生产商的设备昂贵,为实验室建设和设备操作的普及带来昂贵的经济成本。因此,开发一款经济实用的示教型机械手臂可以助力人才培养。开发的机械手臂主要是由舵机和机械手臂控制器组成的六自由度机械手臂。每个舵机可以单独控制。连续多个舵机的动作,可以使机械臂到达指令位置,也可以使用动作组控制模式让机械手臂到达指定的位置。机械臂的驱动控制上采用PCA9685芯片作为PWM驱动信号的来源。该芯片能够输出16路PWM信号,以便后续的扩展。该型机械臂可用于完成各种设定动作,可以满足课堂上的机器人运动学原理讲授和演示需要,从而开展正常的教学活动。Manipulator is widely used in industrial production,disaster relief,surgery and medical treatment.Nowadays,China is lack of innovation in the design and production of manipulator,and a huge gap with international advanced manufacturers exists.To increase the training of professionals in this field,it is necessary to have corresponding practical operation equipment.At present,the equipment of robot manufacturers is expensive,which brings expensive economic cost to the construction of laboratory and the popularization of equipment operation.Therefore,the development of an economical and practical teaching manipulator can help personnel for training.The developed manipulator is a manipulator with six degrees of freedom,which is composed of the actuator and the manipulator controller.Each steering gear can be controlled independently.The action of multiple steering gears can make the manipulator reach the command position.The action group control mode can also be used to make the manipulator reach the specified position.PCA9685 chip is used as the source of PWM driving signal in the driving control of manipulator.The chip can output 16 PWM signals,which is convenient for subsequent expansion.The manipulator can be used to complete all kinds of setting actions,satisfy the requirements of teaching and demonstration of robot kinematics principles in class,and carry out normal teaching activities.

关 键 词：机械手臂 舵机 六自由度 PCA9685 机器人 

分 类 号：TH181[机械工程—机械制造及自动化]