Design And Implementation Of Mechanical Arm Motion Control System

With the development of science and technology, the requirement in practical production of mechanical arm is becoming higher. Especially in those high-end research regions, such as medical apparatus and instruments, motor industry, Deep-Sea Submarine, artillery aiming and the maintenance of space station, the requirement of the mechanical arm is higher. In the aspect of miniaturization and high precision, the mechanical arm should satisfy the needs of practical production. All the above requirements are based on the technique realization of motion control system.In this paper, some research to the current situation of mechanical arm was done firstly. According to the materials’transmitting way and the accuracy demand, the mechanical arm GSF500was selected as the control system; The design in this paper aiming at doing the simulation of both software and hardware. On the basis of the accuracy demand of the mechanical arm control system, we choose the brushless direct current servo and choose the brushless direct current servomotor as actuator. Because the construction is simple, the stability is good and the maintenance is convenient, the brushless direct current servomotor can meet design requirement. Then do a detailed introduction to the transfer function, the operating principle and the mathematical model of the brushless direct current servomotor and the PWM modulation mode. Finally do the simulation with SIMULINK in MATLAB to prove the theory is feasible.Hardware of the servo is designed according to the operating principle. The drive circuit for the electromotor was designed using the chip STM32F103VCT6and the power module IR2136; take serial RS232to communicate with upper computer and finish the data communication and to load the program.Finally the PI algorithm and integral separation PED algorithm are chosen in respond to speed regulating and the location closed loop. Because the two algorithms have the advantages of testing, motor start-up, serial communication programs and so on. Through the simulation of software and hardware, the basic control function of mechanical arm was realized.