摘要
介绍了一种配备了压电微夹钳的毫米级微装配机器人。根据微机器人系统的功能要求设计了其硬件和软件控制系统。控制硬件以32位ARM核处理器为核心组成数模混合系统,使用了两片CPLD构建了微马达控制器和微夹钳控制器。控制软件是基于嵌入式实时操作系统μC/OS-II而设计的多任务系统,包括微马达的控制及与计算机视觉系统之间通信协议等。实验结果证明整套控制系统能满足微装配应用要求。
A millimeter scale microrobot for microassembly that equips a piezoelectric micro-gripper is presented. The hardware and software control systems are designed according to the function requirement of the microrobot system. The control hardware is a mixed-signal circuit using a 32bit ARM core processor. Two CPLD are employed to design the micromotor controller and micro-gripper controller. The control software is a multi-task system based on real time embedded operating systemμC/OS-Ⅱ, which includes the micromotor control and communication protocol with the computer visual system. Experimental results demonstrate that the whole control system can satisfy the application requirement of microassembly.
出处
《仪器仪表学报》
EI
CAS
CSCD
北大核心
2009年第5期980-983,共4页
Chinese Journal of Scientific Instrument
基金
国家高技术研究发展计划"863"(No.2007AA04Z340)资助项目
