笛卡尔坐标机器人实验教学平台构建与探索  

Construction and Exploration of the Cartesian Coordinate Robot Experimental Teaching Platform

作　　者：李海芸 董楸煌 叶大鹏[2] LI Haiyun;DONG Qiuhuang;YE Dapeng(Minjiang Teachers College,Fuzhou 350108,China;College of Mechanical and Electrical Engineering,Fujian Agriculture and Forestry University,Fuzhou 350002,China)

机构地区：[1]闽江师范高等专科学校机电工程系,福州350108 [2]福建农林大学机电工程学院,福州350002

出　　处：《机电技术》2025年第1期95-100,共6页Mechanical & Electrical Technology

基　　金：福建省中青年教师教育科研项目(JAT231246)。

摘　　要：为了满足机器人学课程的实验教学需求,设计了笛卡尔坐标机器人实验教学平台。该实验教学平台选用通用的零部件进行积木式装配,控制系统上、下位机分别采用普通PC机和STM32单片机,并集成工业相机和控制手柄等设备。基于该实验教学平台设计了运动学分析、运动控制和机器视觉等渐进式实验教学项目,有利于初学机器人学课程的学生通过辅助的实验教学,更直观的理解机器人学原理,并为进一步学习构型更加复杂的机器人知识和技术奠定基础,从而实现对学生的知识、能力和素质的全面培养。The Cartesian manipulator experimental platform was designed for the experimental teaching of robotics.The com-mon components were selected for building this platform as block assembly form.A PC and a STM32 single chip microcomputer were respectively adept as the up and lower computer of the control system,and an industrial camera and control handle were inte-grated as peripheral units.Base on this platform,some progressive experimental teaching projects were design:manipulator kine-matic analysis,manipulator kinematic control and machine vision.These experimental projects were conducive to the beginners of robotics course to understand the principles of robotics more intuitively through the auxiliary experimental teaching,and would lay the foundation for further learning more complex robot knowledge and technology,so as to realize the comprehensive cultivation of students’knowledge,ability and quality.

关 键 词：笛卡尔坐标机器人 机器人运动学 机器视觉 实验教学 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]