【摘要】 采用NI公司的LabVIEW8.2作为开发平台,通过ADLINK支持LabVIEW的PCI-8134四轴运动控制卡,以及PCI-9114DG数字输入输出与模拟输入接口,来实现对于机械臂4个自由度的驱动控制,短期内实现四自由度机械臂(3台交流伺服电机、1台微型直流电机)的变参数同步运动控制,为钢丝传动机构的控制提供应用解决方案。更多还原

【Abstract】 This paper presented a solution of control system of 4 DOF robot arm which is used in materials handling system,and discussed about the working principle and design of the system in detail.With this design,not only the structure of robot arm becomes compact and simple,but also the weight is dropped;at the same time,the output power to do work is increased relatively.The robot arm is mainly designed with a simple and efficient wire driving structure so that all driving components could be configured on the fixed base which is far away from the relative joints.更多还原