SCARA 机器人的研究与设计
II
Abstract
Robot has been widely used in industry production. At present, most of the industry
robot control systems use close and special controllers, which are low universal, high
cost, not easy to be extended and maintained, and can’t adapt to the requirement of
flexible and network production of modern manufacturing. It will be an important way of
robot to develop open architecture robot controller by using existing resource to reduce
the cost of robot and make robot popularize just like computer. The paper studies
SCARA robot, designs and produces a kind of SCARA robot controller that is of high
performance, low cost and open-architecture based on industry PC, single chip and
Windows 2000. A SCARA robot prototype machine is designed and produced.
The robot controller is designed with the structure of two levels computer system.
On the one hand, Industry PC is used as master to offer human-computer interface, mark
out the track, control the movement, inspect and control the status. On the other hand,
STC89C51 single chip control system is used as slave to communicate with the master by
PCL-731 digital I/O card, receive the instructions from master computer and drive the
robot joint moving.
The model of mechanical structure of SCARA robot is built. SCARA robot is
consisted of six parts, includes a moving joint and three rotary joints. All the joints are
drove by servo motors. The author designed 3-dimension models and 2-dimension draws
of SCARA robot’s manipulator by Pro/ENGINEER and AutoCAD based on model
designing thinking. The main mechanical parts of robot arms are machined and processed
according to the draws, and the assembling and debugging of SCARA robot’s
manipulator has been finished.
The author designed and produced hardware circuit of STC89C51 single chip
control system. The wiring of servo motor drivers’ main circuit and hardware circuit of
the robot controller is finished. The author developed main computer control system and
slave computer control system of SCARA robot controller by C++ Builder and compiling
language. The communication protocol and models between main and slave computer are
also designed. Meanwhile, hardware system and software system of the controller are
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