Design And Implementation Of Handheld Teaching System For Truss Manipulator Based On ARM

With the rapid development of industrial automation,truss manipulator has been widely used in many fields.As an important part of the manipulator,teaching system plays a vital role in the operation of the manipulator.Because of the complicated teaching process of the mainstream handheld instruction system in the current market and the difficulty of operators,it needs professional training,which consumes a lot of manpower and material resources,and is not suitable for the production of small and medium-sized enterprises.Therefore,the design and development of a friendly interface,convenient operation and efficient hand-held teaching system is of great significance to reduce the production costs of small and medium-sized enterprises.Based on the analysis of the research status of hand-held teaching system,teaching programming technology and bin positioning method at home and abroad,the hand-held teaching system of truss manipulator based on ARM microcontroller is designed and developed.At present,it has been mass-produced.The main work is as follows:(1)According to the actual needs of users,a hand-held teaching system based on STM32F105RCT6 microprocessor is designed.The overall design scheme,shape structure and hardware circuits of each functional module of the teaching system are introduced in detail.(2)The commonly used teaching methods and teaching programming language is analyzed,and designs a set of free programming language system based on the whole Chinese way.It includes the instruction set of free programming language,program structure,program instruction error analysis and the design of target instruction,and introduces the realization of the free programming process in detail.(3)Taking rectangular and circular silos with the same size and uniform distribution of material holes commonly used in industrial production as research objects,based on the analysis of the traditional teaching and positioning of the silo,the calculation method of each hole automatic positioning control of the rectangular silo and the circular silo was designed and introduced in detail.(4)Completed the development of the handheld teaching system software,including the main program,serial communication subroutine,U disk copy and update subroutine,etc.,and designed the system interface.In addition,after the completion of the system software design,the functions of the handheld teaching system and the operation of the whole machine are tested.Finally,the thesis analyzes and summarizes the work content and research results of the full text,finds out the shortcomings,and makes a prospect for its future improvement direction.