摘要
针对自动加样分析仪设计出一种的多轴机械臂控制系统,此系统主要由微控制器、三轴机械臂、定位传感器、液晶显示屏、通讯模块等部分组成。单片机通过接收上位机的指令,完成对机械臂的运动控制。机械臂模块采用多轴协同运动的控制策略,实时的修正控制参数,优化运动轨迹,确保机械臂的移动过程精准、平稳、快速。针对一些社区医院等基层医疗机构,考虑其经济、需求等因素,研发一种高精度、高稳定性、低成本的小型自动加样分析仪具有重要意义。经过对系统的实验测试,设计的多轴机械臂控制系统可以满足设备在中小型医院经检测要求。
This paper designs a multi-axis manipulator control system for automatic sampling analyzer.The system is mainly composed of microcontroller,three-axis manipulator,positioning sensor,liquid crystal display,communication module and other parts.The microcontroller can control the movement of the manipulator by receiving the instruction of the host computer.The manipulator module adopts a control strategy of multi-axis cooperative movement,which can correct the control parameters in real time and optimize the motion trajectory to ensure the precision,stability and speed of the manipulator′s moving process.For some community hospitals and other basic medical institutions,considering its economic,demand and other factors,it is of great significance to develop a small automatic sample adding analyzer with high precision,high stability and low cost.After the experimental test of the system,the multi-axis manipulator control system designed can meet the requirements of equipment testing in small and medium-sized hospitals.
作者
韦宏利
王晴悦
周建波
魏秀
Wei Hongli;Wang Qingyue;Zhou Jianbo;Wei Xiu(Xi′an University of Technology,Xi′an 710021,China)
出处
《电子测量技术》
北大核心
2021年第7期139-143,共5页
Electronic Measurement Technology
关键词
STM32
S型加减速曲线
多电机同步控制
交叉耦合控制
定位精度
STM32
S-type acceleration and deceleration curve
multi-motor synchronous control
cross coupling control
positioning accuracy
