摘要
结合Marlin固件的下位机与基于Python和Processing的上位机之间的通讯,通过欧拉方程解决运动学的正逆解,研究设计出了一套桌面级SCARA机器人的系统。该系统采用快拆式执行机构和磁吸式工作平台,可快速更换组件,以此实现3D打印、激光雕刻、写字、绘画、抓取、装配等桌面级拓展功能。
Combining the communication between the lower computer of Marlin firmware and the upper computer based on Python and Processing,the forward and inverse solutions of kinematics are solved by Euler equation,and a set of desktop SCARA robot system is designed.The system uses a quick-release actuator and a magnetic working platform to quickly replace components for desktop-level expansion functions such as 3D printing,laser engraving,writing,drawing,grabbing,and assembly.
作者
吴杨宁
潘建军
蔡港培
叶铃敏
杨凯明
WU Yangning;PAN Jianjun;CAI Gangpei;YE Lingmin;YANG Kaiming(School of Mechanical Engineering Automation,Fuzhou University,Fuzhou 350108,China)
出处
《机械工程师》
2019年第1期24-26,30,共4页
Mechanical Engineer
基金
福州大学第二十三期本科生科研训练计划(SRTP)项目(23022)
关键词
SCARA机器人
编程技术
上位机
下位机
SCARA robot
programming technology
upper computer
lower computer
