摘要
搬运机器人在石化、物流、仓储等领域有着广泛的应用前景。本文介绍了双平行四边形搬运机器人的结构组成和动力学模型,基于PMAC运动控制卡和伺服驱动器搭建了机器人控制系统。在系统中嵌入了机器人动力学模型算法,该系统能够完成多轴拟合,从而实现机器人搬运功能的直线运动和圆弧运动等动作。
The transport robot has broad application prospects in petrochemical,logistics,warehousing and other fields.In this paper,the structure and dynamic model of the bi-parallelogram handling robot are introduced.The control system of the robot is built based on PMAC motion control card and servo driver.The dynamic model algorithm of the robot is embedded in the system.The system can complete the multi-axis fitting,thus realize the linear and circular motion of the robot’s handling function.
作者
熊家慧
XIONG Jia-hui(Changzhou Liuguojun Higher Vocational and Technical School,Changzhou 213025 China)
出处
《自动化技术与应用》
2020年第2期68-71,76,共5页
Techniques of Automation and Applications
作者简介
熊家慧(1985-),女,讲师,研究方向:电气工程及其自动化。
