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设计出一种模块化机器人关节单元,可以完成回转运动,集直流电机驱动、控制及通信于一体.设计了由直流减速伺服电机和行星轮减速器组成的驱动系统,通过设计电机偏置传动实现中心孔走线,避免了机器人手臂控制电缆的磨损和缠绕问题.由单片机AT89S52、电机控制芯片LM629、电机驱动芯片LMD18200及增量式光电编码器完成了直流电机的控制,控制器局域网络(CAN)现场总线控制芯片SJA1000与CAN收发器PCA82C250组成的CAN总线串行通信系统减少了手臂内部的控制电缆线数量.经检测,该关节模块输出力矩为2 N.m,重复定位精度为±0.15°.
A kind of modular robot joint unit is designed to complete rotary motion, which integrates DC motor drive, control and communication.Designed a drive system composed of DC deceleration servo motor and planetary gear reducer, designed by the motor bias transmission The center hole is routed to avoid the problem of abrasion and winding of the control arm of the robot arm. The control of the DC motor is completed by the AT89S52 microcontroller, the LM629 motor control chip, the LMD18200 motor drive chip and the incremental optical encoder. The controller local area network ) Field bus control chip SJA1000 and CAN transceiver PCA82C250 composed of CAN bus serial communication system to reduce the number of control cables inside the arm.Testing, the joint module output torque of 2 Nm, repeat positioning accuracy of ± 0.15 °.