基于FMS串联机器人的设计与研究

摘要

The design and control of serial robot to transfer workpieces in the flexible manufacturing system (FMS)were intro-duced,which included the mechanical structure,the design of robot control units and implementation of monitoring and supervision by the total control unit of FMS.Through the practical operation,it shows that the serial robot based on FMS fully meets the requirement in the system with compact structure and well flexibility.%介绍了柔性制造系统（FMS）中用于搬运工件的串联机器人的设计与控制，包括机械结构、机器人控制单元的设计，以及实现FMS总控制单元对机器人进行的监控。并通过实际运行证明，基于FMS设计的串联机器人结构紧凑、灵活性好，完全能够满足系统的工作要求。