基于PMAC的5自由度机械手的设计

Design of 5-DOF Manipulator Based on PMAC Motion Controller

摘要: 针对于工厂中安放螺栓工步的特征，本文设计了5自由度机械手，并构建了机械结构，硬件结构，软件结构和控制系统。利用VC++平台设计了工控机(IPC)的系统管理软件，同时利用PMAC可编程多轴运动控制卡完成了各个关节位置的伺服控制，此控制系统综合了工控机(IPC)和PMAC的双重优点，能够满足机械手5轴联动，高精度，高效率，运行平稳迅速，可靠性高，节约成本的要求，并且具有良好的开放性和扩展性。

Abstract: For this step to put the bolt in specified location in the factory, we design 5-DOF manipulator, in-cluding the hardware architecture, software architecture and control system, and the hardware structure of the control system which based on PMAC motion controller. PC system management software is designed by the VC++ platform and the next crew PMAC implements various joint posi-tion servo control, which meet the good efficiency; smooth operation; high reliability; high accuracy requirements; and a good openess and scalability.