摘要
根据搬运机器人的性能要求,设计出它的机械结构,然后对其进行动力学分析,计算出实现给定运动所需要的驱动力和力矩。对控制系统进行了分析,提出了微型计算机(IPC)加PMAC2A-PC/104运动控制卡的控制方法。对PMAC的特点简要介绍,并给出控制系统的软、硬件设计。
Based on the functional requirement, mechanical structure is designed, then the dynamics of the conveying robot is analyzed, and the required driving force and torque which can carry out certain movement are calculated. The control system architecture is analyzed, the control method based on IPC （ Industry Person- al Computer） and PMAC2A - PC/104 is proposed, the characteristic of the PMAC is illuminated simply and the hardware and software architectures are designed.
出处
《煤矿机械》
北大核心
2007年第9期55-58,共4页
Coal Mine Machinery
