设计六自由度机械臂，实现工业装配焊接的高精度自动控制
Design And Control of A Robotic Arm For Industrial Applications
- 采用伺服电机与微控制器构建六自由度机械臂，集成逆运动学与PID控制
- 仿真与实验验证系统定位精度高、重复性好，可稳定执行工业任务
- 成本低、易扩展，适合制造场景中的重复性自动化需求
工业自动化需求推动了机器人系统的快速发展，尤其体现在机械臂应用上。本文设计并实现了适用于装配、焊接和物料搬运等工业场景的六自由度（DOF）机器人操作臂，基于伺服电机与微控制器构建，机械结构亦已完成加工。通过运动学与动力学分析，确保精准定位与负载处理能力。引入逆运动学算法与比例-积分-微分（PID）控制器，提升控制精度。仿真与实验测试证实该系统具备高精度与良好重复性。所提机械臂具有成本低、可扩展、可靠性高等优势，是制造业中实现多种常规流程自动化的可行方案。
原文摘要 · Abstract (English)
The growing need to automate processes in industrial settings has led to tremendous growth in the robotic systems and especially the robotic arms. The paper assumes the design, modeling and control of a robotic arm to suit industrial purpose like assembly, welding and material handling. A six-degree-of-freedom (DOF) robotic manipulator was designed based on servo motors and a microcontroller interface with Mechanical links were also fabricated. Kinematic and dynamic analyses have been done in order to provide precise positioning and effective loads. Inverse Kinematics algorithm and Proportional-Integral-Derivative (PID) controller were also applied to improve the precision of control. The ability of the system to carry out tasks with high accuracy and repeatability is confirmed by simulation and experimental testing. The suggested robotic arm is an affordable, expandable, and dependable method of automation of numerous mundane procedures in the manufacturing industry.
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