六自由度上料机械手控制系统的设计与测试  

Design and Testing for Control System of Feeding Manipulator with Six-degree-of-freedom

作　　者：高红红[1] 马保吉[1] 杨恒 李志超 GAO Hong-hong;MA Bao-ji;YANG Heng;LI Zhi-chao(School of Mechatronic Engineering,Xi'an Technological University,Xi'an 710032,China)

机构地区：[1]西安工业大学机电工程学院,陕西西安710032

出　　处：《仪表技术与传感器》2022年第1期57-61,共5页Instrument Technique and Sensor

基　　金：陕西省教育厅重点实验室科研计划项目(19JS035)。

摘　　要：为了对自动化生产线上料工位的六自由度机械臂进行控制,在IAP15W4K58S4单片机最小系统的基础上设计了机械臂控制电路,主要包括电源接口电路、程序下载电路和无线信号收发电路。采用模块化程序设计思路,编程实现了A/D转换、串口通信、舵机脉宽调制控制等功能。利用Proteus进行了脉宽调制控制程序仿真,通过正交试验对机械臂的定位误差进行了测试。仿真运行结果表明该机械臂控制电路能控制6个关节舵机按照要求协调运动,测试结果表明机械臂末端中心的定位误差不超过2 mm,满足物料抓取和定位的一般要求。In order to control the six-degree-of-freedom manipulator to feed materials on the automatic production line,the control circuit of the manipulator was designed based on the minimum system of IAP15W4K58S4 single chip microcontroller includes power interface circuit,program download circuit and wireless signal transceiver circuit.The modular program design method was used to realize A/D conversion,serial communication,and PWM steering engine control,etc.The PWM program was simulated in Proteus,and the positioning accuracy of the manipulator was measured in orthogonal experiment.The simulation results show that the control circuit of the manipulator can control the coordinated motions of the six steering engines as required.The test results show the positioning error of the terminal center of the manipulator is within 2 mm,which can meet the general requirements for material grasping and positioning.

关 键 词：机械臂 六自由度 单片机 脉宽调制 舵机 正交试验 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]