Design Of 6-DOF Manipulator Experiment Platform

In order to carry out the related experimental research of manipulator motion precision compensation and robot vision,a set of six-DOF robotic arm test platform with strong openness and good expansibility becomes the key of the project.In this paper,the design and research are carried out from two parts of mechanical ontology and motion control system.Firstly,according to the design and control system scheme of robotic arm at home and abroad,the index and configuration of the design are clearly based on the application situation and working environment of the robotic arm test platform.In the design scheme of mechanical ontology structure,the structure scheme of manipulator is designed with modular design idea,then the parts are selected and the threedimensional model of SolidWorks is established,Finally,the engineering drawings are drawn,and the project prototype of robotic arm test platform is assembled.Secondly,according to the joint configuration of the manipulator,the kinematics modeling of the manipulator is carried out by using the D-H parameter method,the connecting rod coordinate system is established,and the positive inverse solution of the manipulator kinematics is deduced by using the MATLAB Robot Toolbox,and the motion trajectory of the manipulator is simulated by the five-time polynomial method to ensure the smooth curve of the joint angle change Continuous and smooth movement of the robotic arm.Then,according to the functional requirements of the control system of the manipulator Test platform,the scheme design of the control system is carried out.Using the Industrial control computer PCI interface and the motion control card connection to form the upper computer,through the RJ45 Communication Interface Series servo driver and I/O extender,and the use of DMCNET protocol is used to communicate the upper and lower computer.In circuit design,the manipulator control circuit has used SolidWorks Electrical to ensure the normal operation of the equipment,Besides,the relevant safety auxiliary control circuit has been designed to ensure the safety of personnel and equipment.Finally,in the software design,the VC is used as the host computer software development environment,the man-machine mutual interface of point-to-point,continuous trajectory movement,teaching procedures and other related motion control are developed to ensure the integrity of software functions and meet the needs of the test platform,so that favorable late maintenance and upgrade.