摘要
针对扎针机器人控制系统设计问题,采用六自由度机械结构实现机器人任意位姿的调整,以ARM芯片STM32F429IGT6作为主处理器,从控制系统硬件组成、选型、连接电路设计、软件流程设计方面提出了具体的解决方案,通过搭建实验系统,验证了方案的可行性。系统简单易实现、成本低、可扩展性好,能为扎针机器人早日实现临床应用提供解决思路和技术支持。
Aiming at acupuncture needles control system design problem,the scheme use a 6-DOF robot mechanical structure to realize any position adjustment,and use ARM chips STM32F429IGT6 as the main processor. The scheme proposed a concrete solution from aspects of the control system hardware composition,selection,circuit design,software flow design. The feasibility of the scheme was verified by building an experimental system. The system is simple,easy to implement,low cost and good scalability. It can provide solution and technical support for early realization clinical application of needling robot.
作者
彭丽霞
PENG Li-xia(Xi’an International University,Xi’an 710077,China)
出处
《电子设计工程》
2019年第19期140-144,149,共6页
Electronic Design Engineering
基金
陕西省教育厅自然科学基金项目(17JK1103)
