The Research And Design Of Educational-Robot Based On Graphic Programming

The industrial robot is one of the most maturation branches in the field of robots. And also, it is the mechanical electrical integrated equipment being applied widely in the industry. It is very useful to the research and development of other fields of robots to master the theory and technology. Because of simulating the basic structure, motion characteristics and control methods of industrial robots, the educational robot provides great help for learning technology of robot.The thesis researches and designs an educational robot. This educational robot reflects the structure and motion characteristics of an industrial robot being applied widely in the industry. And also, it designs and develops software with 3D graphical simulation function. This avoids the complex programming language of industrial robot and makes the educational robot be convenient to operate.Firstly, the thesis analyses mechanical structure of the educational robot and discusses the kinematics problems. These problems include kinematics and inverse solution. Secondly, we design and develop the control system on purpose to control single or multi-axis motion, focusing on the designation of hardware of control system. It includes the power supply unit, storage unit, drive of DC servo motor, input/output unit and communication unit. And also, it expounds the driving program.Thirdly, the thesis expounds the designation process of the control software. And realizes graphic simulation function and off-line programming function of the educational robot. Last, Based on the examples of"carrying"and"writing", the thesis puts forward two kinds of typical control methods, which are"Point to Point control"and"continuous path control".The research and designation of educational robot with 3D graphical simulation function improves its application in teaching field. And further more, the hardware and graphical software designation of this educational robot has the reference value to the development of other control system about mechanical motion.