[1]辛大奇,王军,孙军.Dobot机械臂实时通信仿真与实验研究[J].机械与电子,2017,(09):65-68.[doi:1001-2257(2017)09-0065-04]
　XIN Daqi,WANG Jun,SUN Jun.Real-time Communication Simulation and Experimental Study of Dobot Manipulator[J].Machinery & Electronics,2017,(09):65-68.[doi:1001-2257(2017)09-0065-04]
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Dobot机械臂实时通信仿真与实验研究
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2017年09期
页码:
65-68
栏目:
智能工程
出版日期:
2017-09-25

文章信息/Info

Title:
Real-time Communication Simulation and Experimental Study of Dobot Manipulator
作者:
辛大奇; 王军; 孙军
(沈阳建筑大学机械工程学院,辽宁 沈阳 110168)
Author(s):
XIN Daqi;  WANG Jun;  SUN Jun
(School of Mechanical Engineering,Shenyang Jianzhu University, Shenyang 110168,China)
关键词:
联合仿真;  Arduino;  运动学;  GUI;  实时控制;  Dobot
Keywords:
joint simulation;  Arduino;  kinematics;  GUI;  real-time control;  Dobot
分类号:
TP241
DOI:
1001-2257(2017)09-0065-04
文献标志码:
A
摘要:
针对关节型机械臂运动状态实时监控问题,以Dobot为研究对象,采用联合SolidWorks与MATLAB进行运动学建模的方法,建立机械臂机械系统模型和可视化运动学模型。通过设计的GUI界面,实现了机械臂虚拟样机运动状态的实时监控。进一步联合Arduino核心板,搭建Dobot实验平台,对虚拟样机与实体进行联调,完成了虚拟样机与实体机械臂的实时控制。
Abstract:
Aiming at the real-time monitoring of the motion state of articulated manipulator, and by taking Dobot as the research object, a manipulator mechanical system model and a visual kinematics model are built by means of SolidWorks and MATLAB to build the kinematics modeling. The virtual prototype movement of the manipulator was monitored in real time through the GUI interface designed in the research. And then, a Dobot experimental platform was built with the Arduino core board, on which, the joint debugging was carried out for the virtual prototype and the real one. Finally, the real-time control was realized on the virtual and real manipulator.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期：2017-05-27
基金项目：辽宁省科技计划项目（2013220017）；辽宁省自然科学基金（2013020035）
作者简介：辛大奇（1992-），男，安徽淮北人，硕士研究生，研究方向为机械臂实时通信技术；王军（1956-），男，辽宁丹东人，教授，博士研究生导师，研究方向为先进制造技术。
更新日期/Last Update: 2017-09-25