工业机器人实训平台模块化可重构硬件系统研究  

Research on Modular and Reconfigurable Hardware System of Industrial Robot Training Platform

作　　者：陈晖 于殿勇[2] 梁凤顺 郑阳 CHEN Hui;YU Dianyong;LIANG Fengshun;ZHENG Yang(Fujian(Quanzhou)Institute of Harbin Institute of Technology,Quanzhou 362008,China;Harbin Institute of Technology,Harbin 150006,China)

机构地区：[1]福建(泉州)哈工大工程技术研究院,福建泉州362008 [2]哈尔滨工业大学,黑龙江哈尔滨150006

出　　处：《机械制造与自动化》2022年第5期149-151,171,共4页Machine Building & Automation

基　　金：国家重点研发计划课题项目(2019YFB1312602)。

摘　　要：为了实现工业机器人实训平台的快速重构功能,提出一种模块化可重构硬件系统的设计方法。利用模糊聚类的模块划分方法进行实训平台的模块划分及评价,得到最佳模块划分粒度和模块划分方案。分别从实训平台的机械结构层、电气硬件层、嵌入式控制层等基础底层硬件系统展开模块化可重构设计,实现基础底层的快速重构。底层硬件系统的模块化可重构设计为上位机可重构软件系统的开发奠定基础,为实现工业机器人实训平台的快速重构功能提供技术基础。To realize the rapid reconfigurable function of the industrial robot training platform, a method of modular reconfigurable hardware system design was proposed. The fuzzy clustering module division method was used to realize and evaluate the training platform module division and obtain optimal module division granularity and module division programme. The modular and reconfigurable design is carried out through mechanical structure, electrical hardware and embedded control so as to realize the rapid reconfigurable function of underlying hardware system, which lays the foundation to realize reconfigurable computer controlled system and provides technical support for the rapid reconfigurable function of the industrial robot training platform.

关 键 词：工业机器人 实训平台 模块化可重构 硬件系统 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]