基于CAN总线控制系统的抓物机械手设计

摘要

机械手的研制和生产已成为高技术领域迅速发展起来的一门新兴的技术,要满足当今工业大规模自动化生产线上多机械手的统一协调与控制,必须借助于智能、可靠、灵活的网络总线控制系统.设计旨在通过工业CAN现场总线来组网控制抓物机械手.阐述了基于CAN总线控制系统的抓物机械手总体控制流程和机械手的构成及它的工作原理,并在此基础上设计了由电机控制的二自由度抓物机械手.对CAN总线的特点与结构以及CAN总线接口的设计进行了介绍,最后给出了通过CAN总线控制机械手的硬件连接方案以及控制系统的软件编程内容.该设计具有扩展性强、功能灵活、操作方便、性能稳定等优点.%The development and production of manipulator is a new technology developed rapidly.To meet the needs of current large-scale automatic production lines with more manipulators,which must be coordinated and controlled, an intelligent,reliable and flexible network bus control system has to be ap-pliedThis design aims to control a manipulator for grasping objects by industrial CAN bus,which overall control process are expounded based CAN bus.Then the structure and working principle of the manipulator is introduced, based on which a manipulator for grasping objects of two degree of freedom controlled by motors is designed.Afterwards the characteristics and structure about CAN bus are presented,and a CAN bus interface is devised as welLFinally,the hardware connection scheme of the manipulator dominated by CAN bus is presented,and the software program for the control system is provided as welLThis design possesses several advantages -.good expansibility,flexible function,easily operation,steady performance and so on.