| With the background of practical projects, aiming at cutting problem of space curve in shipbuilding industry and welding problem of container's cover and flange in chemical industry, a type of Multi-DOF robots are designed, and it is mostly used to cut holes on shell, cut the ends of the flange and weld the flange on the top of container's cover, and so on.The control system discussed in this paper is based on LF2407DSP's embedded system. The high-powered DSP is served as the superior chip and 51 single-chip is acted as the subordinate chip. CAN bus is used as the data transfer mode from the superior chip to the subordinate chip. The distributed control system achieves the control of four DOF step motor. The system is provided with the function of parameter input, display, remote control, etc.In this paper, software design and hardware design of Multi-DOF numerical control system is finished. The paper has detailedly introduced the scheme of control system, the mechanical structure, the interfaces of hardware circuit, the flow of software, communication of CAN bus, and the welding application of Multi-DOF robot. |
