五邑大学硕士学位论文摘要机器人在工业生产中有着广泛应用目前工业机器人控制系统大多采用封闭结构的专用控制器其通用性差生产成本高不易扩展和维护已越来越不能适应现代制造业柔性化网络化生产的需求开发利用现有资源的开放式机器人控制器以降低机器人成本使机器人像个人计算机一样普及将成为机器人的一个重要方向 本文基于工控机 单片机和 操作系统以 平面关节型机器人为研究对象设计研制了高性能低成本开放式的控制器并设计制作了 机器人样机采用二级计算机体系结构设计了 机器人控制器其中以工控机作为上位机实现人机界面轨迹规划运动控制和状态监控等功能下位机采用 单片机控制系统通过 数字 卡与上位机通讯实现接收上位机指令驱动机器人关节运动等功能建立了 机器人的机械结构模型 机器人由六部分组成包括一个移动关节和三个旋转关节各关节采用伺服电机驱动基于模块化设计思想采用 和 完成了机器人本体的三维模型设计和二维图设计 根据设计图加工制作了主要机械部件完成了机器人本体的装配和调试设计制作了 单片机控制系统硬件电路 完成了伺服驱动器的主电路配线和机器人控制器的硬件电路配线采用 和汇编语言开发了控制器的上位机控制系统和下位机控制系统 设计了上位机与下位机的通讯协议和通讯模块并对控制器的硬件系统和软件系统进行了综合调试完成了 机器人的工作稳定性实验点位运动实验和连续运动实验实验结果表明 基于工控机和 操作系统设计的开放式 机器人控制器具有通用性强开放性好操作简单易于扩展维护方便等特点基于该控制器利用现有资源设计的 机器人生产成本低值和广阔的市场前景功能扩展性强具有良好的实用价关键词 机器人开放式控制器工控机单片机 卡伺服电机ISCARA 机器人的研究与设计AbstractRobot has been widely used in industry production. At present, most of the industryrobot control systems use close and special controllers, which are low universal, highcost, not easy to be extended and maintained, and cant adapt to the requirement offlexible and network production of modern manufacturing. It will be an important way ofrobot to develop open architecture robot controller by using existing resource to reducethe cost of robot and make robot popularize just like computer. The paper studiesSCARA robot, designs and produces a kind of SCARA robot controller that is of highperformance, low cost and open-architecture based on industry PC, single chip andWindows 2000. A SCARA robot prototype machine is designed and produced.The robot controller is designed with the structure of two levels computer system.On the one hand, Industry PC is used as master to offer human-computer interface, markout the track, control the movement, inspect and control the status. On the other hand,STC89C51 single chip control system is used as slave to communicate with the master byPCL-731 digital I/O card, receive the instructions from master computer and drive therobot joint moving.The model of mechanical structure of SCARA robot is built. SCARA robot isconsisted of six parts, includes a moving joint and three rotary joints. All the joints aredrove by servo motors. The author designed 3-dimension models and 2-dimension drawsof SCARA robots manipulator by Pro/ENGINEER and AutoCAD based on modeldesigning thinking. The main mechanical parts of robot arms are machined and processedaccording to the draws, and the assembling and debugging of SCARA robotsmanipulator has been finished.The author designed and produced hardware circuit of STC89C51 single chipcontrol system. The wiring of servo motor drivers main circuit and hardware circuit ofthe robot controller is finished. The author developed main computer control system andslave computer control system of SCARA robot controller by C+ Builder and compilinglanguage. The communication protocol and models between main and slave computer arealso designed. Meanwhile, hardware system and software system of the controller areII五邑大学硕士学位论文synthetically debugged.The experiment of SCARA robots working stability, moving from point to pointand moving continuous is finished. The results of the experiment indicate that the robotcontroller with open architecture based on industry PC and Windows 2000 poses theadvantages of good versatility, good openness, operating simply, expanding easily andmaintaining expediently. The SCARA robot designed based on this controller by existingresource has low cost, powerful expansibility of function, good utility value and widemarket prospect.Key Words: SCARA Robot, Open Architecture, Controller, Industry Computer,Single Chip, I/O Card, Servo motorIII五邑大学硕士学位论文第一章 绪 论1.1工业机器人的发展及研究现状机器人自诞生之日起 便显示出其强大的生命力 机器人首先在工业生产中得到了广泛应用 并给传统工业带来了质的飞跃 它不仅提高了传统产业的自动化程度 提高了劳动生产率 而且还推动了以资源消耗低 环境污染少为特征的新型工业的诞生 随着人类在机械工程 电气工程 微电子技术 计算机技术 控制论 传感技术 信息学声学 仿生学及人工智能等学科领域的飞速发