摘要
本文主要研究设计了一款教学用低成本六轴机器人。结构设计上通过SolidWorks软件建模,并对关键部件做有限元分析后采用3D打印的方式制作零部件;控制系统上基于低成本硬件Mini ESP8266模块,并以此产生PWM信号分别控制六关节舵机的旋转角度,实现机器人的抓取搬运等动作,模拟了工业机器人在关节坐标系下的工作。对培养大学生在机器人方面的结构设计、电路设计及控制程序编写能力均有较好帮助。
This paper focuses on the design of a low-cost six-axis robot for teaching. The structural design is modeled by SolidWorks, and the key components are made by 3D printing after finite element analysis. The control system is based on the low-cost Mini ESP8266 module, which generates PWM signals to control the rotation angle of the six-joint servo to realize the robot’s action of grasping and handling, imitating the work of an industrial robot in the joint coordinate system. It will help students to develop the ability of structural design,circuit design and control program writing in robotics.
作者
章家藏
Zhang Jiazang(Zhejiang College of Security Technology,Wenzhou 325016,China)
出处
《科学技术创新》
2022年第11期193-196,共4页
Scientific and Technological Innovation
基金
2021年浙江安防职业技术学院科研项目“一种教学用的低成本六轴机器人研究”(编号:AF2021Y14)。
