CANopen (Controller Area Network open)-based distributed type modularized mechanical arm system

Abstract

The invention relates to a CANopen (Controller Area Network open)-based distributed type modularized mechanical arm system, belonging to the technical field of electromechanical intelligent control. The CANopen-based distributed type modularized mechanical arm system comprises a master control module, a bus interface module, a motor drive module, a sensor module, a communication bus, a monitoringmodule and a mechanical arm. The CANopen-based distributed type modularized mechanical arm system has a simplified structure; meanwhile, the stability, the real-time performance and the anti-interference are further improved; the sensors can be expanded and added conveniently according to actual different tasks so that various tasks, such as the action of taking up a cup on a table, in daily lifecan be completed; and therefore the expandability is achieved, and the basis is provided for service robots to enter families in future.

Description

technical field [0001] The invention relates to a device in the technical field of electromechanical intelligent control, in particular to a distributed modular manipulator system based on the CANopen protocol standard (Controllor Area Network Open Protocol). Background technique [0002] Robot is the representative of the highest research achievements in the field of mechatronics research. As the earliest robot and the earliest modern robot, the mechanical arm can replace the heavy labor of people to realize the mechanization and automation of production, and can operate in harmful environments to protect personal safety, so it is widely used in machinery manufacturing, metallurgy, Departments of electronics, light industry and atomic energy. In recent years, intelligent robots have become one of the latest robot research directions, and the robotic arms are becoming more and more miniaturized and intelligent. Widely used in social fields. For example, a home service rob...

AI Technical Summary

Problems solved by technology

However, the universal serial bus technology USB still has many shortcomings, which affect its application in control.

For example, in theory, USB can realize serial connections of up to 127 devices, but in practical applications, 3 to 4 devices may cause some devices to fail

In addition, although the USB itself can provide a current of 500mA, once it encounters a device with high power consumption or the number of devices increases, it will lead to insufficient power supply, and often the device cannot be recognized.

Moreover, the operation of the motor on the arm will generate electromagnetic interference. In terms of anti-interference ability, USB has not yet reached the industrial standard

Chinese patent document number: CN101131586, name: M-LVDS high-speed serial communication device and its communication control method in the manipulator system, the introduction of M-LVDS high-speed serial communication device greatly improves the communication rate, but M- LVDS is unlikely to be used in industrial environments with severe noise interference, and is only suitable for communication applications

Images