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| Delta机器人实验平台下位机控制系统设计 |
| Design of Lower Computer Control System on Delta Robot Experimental Platform |
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| DOI： |
| 中文关键词: 教学型；Delta机器人；步进电机；实验平台；控制系统 |
| 英文关键词: Teaching model; Delta robot; stepper motor; experimental platform; control system |
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| 中文摘要: |
| 论文介绍了由PC+MCU控制器架构的教学型Delta机器人实验平台下位机控制系统设计。硬件电路部分使用STM32F103RCT6作为主控芯片，设计了控制、通信和输入输出等关键电路。下位机软件方面完成了多路高频信号设计、多点Modbus设计和多段式连续控制设计。结果表明：Delta机器人实验平台下位机控制系统运行良好，达到预期效果。 |
| 英文摘要: |
| This paper introduces the computer control system of the teaching model Delta robot experimental platform based on PC+MCU controller. STM32F103RCT6 is used as the main control chip in the hardware circuit, and the key circuits of control, communication and input and output are designed. In the lower computer software, multi channel high frequency signal design, multi point Modbus design and multi stage continuous control are completed. The results show that the lower computer control system on Delta robot experimental platform operates well, obtaining the expected effect. |
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