The Research About Structure Design And Control System Of The Articulated Robot Of Six Degrees Of Freedom

In the group of six degrees of freedom robots, the articulated robot is be cared by designer and user for its broad work range, flexible movement, compact structure, catching the object near the machine plinth. The six degrees of freedom articulated robot the article designed can be used not only in the practical production but also in the teaching and science research. It can carry out the point-to-point control, as well as continuous path control in the practical production. The users and the third party can comprehend the composition and run theory of robot and can further study in the teaching and science research. So the article's study has broad factual meaning and application prospects. The article studies correlative key technologies to fulfill the robot requirement in operation contents flexibility.After demonstrating the feasibility of robot mechanics, the article have designed the robot's entity structure with Pro/engineer and Auto CAD and otherwise software from the matter of fact, analysed the robot's motion with D-H methodology, planed the robot motion path detailedly with the method of joint space and method of Descartes space, and developed the circuit board of the control electromotor that can control six control electromotor based the ISA bus. At the same time, the control software based on Windows operating system is developed. It has friendly interface and opening structure, also presents most of functions to user and the third party for convenient further development and expanding its application function. The control software make use of the advantage of Visual C++ which is suitable to visit hardware, and package many control function into DLL that can directly access the hardware interface, and offer a variety of system control function through DLL to user, so realizes the opening and makes user convenient to control and further development.