摘要
介绍了一种自主研发的四自由度机器人的机械本体及在绘图工作中的应用,并以绘制六边形为例,设计了基于PC机+人机界面(触摸屏)+TR IO运动控制器的开放式控制系统。完成了控制系统硬件结构的搭建和软件程序(包括TR IO程序、触摸屏操作界面)的设计。并根据运行结果对机器人的可靠性、稳定性、精度等进行了分析。结果表明:该机器人性能可靠、稳定、精度满足设计要求。
This paper mainly introduces a self-developed robot body which has four degrees of freedom and its mechanical work in the drawing application.And it designs an open control system based on PC＋the interface（touch screen）＋TRIO motion controller in the example of hexagon.The paper mainly completed the design of the composition of robot＇s hardware,and software program（including the TRIO programs,the operation interface of touch-screen） in detail,and analyzes the reliability,stability,precision According to the results of the running result.
出处
《组合机床与自动化加工技术》
北大核心
2010年第11期64-67,70,共5页
Modular Machine Tool & Automatic Manufacturing Technique
