基于单片机的小型上下料机器人机电综合设计

针对柔性制造单元的上下料任务，完成了小型5自由度机器人的机电综合设计与制作。在SolidWorks环境下，构建三维模型并完成了运动分析：以单片机作为控制器，为舵机提供控制信号，采用了一种新的多路PWM控制信号产生方法，可以精确地控制六路舵机的运动，实现对机器人的控制，完成了控制器的硬件夏软件设计；设计了上位机控制程序，并利用VB串口通信控件实现上位机与单片机的通讯。所设计的机器人，能完成多种物料的搬运任务，控制简单可靠。

Mechanical and Electrical Integrated Design of Small Charging Robot Based on Singlechip

For loading and unloading task of flexible manufaeturing unit, the integrated electrical and mechanical design and manufacture of a 5 degree of freedom is accomplished. The three-dimensional model and the motion analysis are completed in SolidWorks： Singlecbip is selected as controller to provide control signals for servo motor. A new method to generate PWM control signals is provided which can precisely control the movement of 6 motors and realize the controlling of robot. The hardware and software design are completed. The control program on upper computer is designed and the serial communication between upper computer and singlechip is realized with VB serial communication widget. The robot which controlling is simple and reliable can accomplish the transport of a variety of materials.