A Motion Control Of A Gripping Arm

Manipulator focused by domestic and foreign scholars is a kind of programmable automation equipment,which plays an important role in industrial production.At present,path planning and speed control were its main research aspects and the stability,reliability,cost were important contents,which is of great significance to development the entire mechanical arm industry.The overall structure of the system is given according to the application requirements of the manipulator.The design requirements and methods of the hardware and software are introduced in detail through the function analysis of the manipulator.The Manipulator in paper is designed from the HbA1 c apparatus,and the manipulator is used to complete the replacement of the blood sample plate.The system uses STM32 as the main controller of the whole system and its price is low,the internal resources are abundant,the IO port is many and it has better data processing ability,can better complete the control of the speed of the manipulator.This system has the versatility and high accuracy,a set of hardware circuit and the software develops,may apply in all products above,only needs according to the concrete need to change some parameters,which uses the CAN bus,saves the space of the whole system,improves the stability of the system communication,and realizes the effective control of multiple prototypes by setting the address of the mounted communication bus device.The system uses the photoelectricity switches detection module to judge the position of the trajectory of the manipulator,and it is limited in the movement trajectory.The paper introduction the the robot's left and right movement,upper and lower movement,CAN communication,and gives the important program code.In this paper,the specific testing methods of the system are given.The USB-CAN control module used in the test process,which reduces the steps between single modules testing.The system using integrated design,all the photoelectricity switches are placed on the hardware circuit board.Compared with the traditional mechanical manipulator,this design has more advantages in the development cycle and cost.