姜宇凡
（中国空空导弹研究院，河南 洛阳 471009）
摘要：基于嵌入式系统设计了一款六轴关节型机械臂系统。六轴关节型机械臂的各关节零件通过3D打印后组装；主控板的微型控制器选用STM32F103C8T6芯片；利用MatLab仿真软件对六轴关节型机械臂进行运动学建模和仿真；采用Java语言开发六轴关节型机械臂的上位机软件，使机械臂可以通过上位机或无线装置实现姿态控制、抓取等操作，并支持动作记忆功能，可重复动作。基于航空精确制导武器部装产线，搭建温度测试工业应用场景，进行六轴关节型机械臂的正逆解与点动实验，为后续数字孪生技术的研究打下基础。
关键词：嵌入式系统；六轴关节型机械臂；STM32单片机；D-H参数法；运动学建模
中图分类号：TP241.2 文献标志码：A 文章编号：1674-2605(2024)01-0008-09
DOI：10.3969/j.issn.1674-2605.2024.01.008
Six Axis Articulated Robotic Arm System Based on Embedded Systems
JIANG Yufan
(China Airborne Missile Academy, Luoyang 471009, China)
Abstract: A six axis articulated robotic arm system was designed based on embedded systems. The joint components of a six axis articulated robotic arm are assembled through 3D printing; The microcontroller of the main control board uses STM32F103C8T6 chip; Using MatLab simulation software to model and simulate the kinematics of a six axis articulated robotic arm; Developing the upper computer software of a six axis articulated robotic arm using Java language, enabling the robotic arm to achieve posture control, grasping, and other operations through the upper computer or wireless device, and supporting action memory function, with repeatable actions. Based on the aviation precision guided weapon assembly production line, a temperature testing industrial application scenario is constructed to conduct forward and inverse solutions and point motion experiments of a six axis articulated robotic arm, laying the foundation for subsequent research on digital twin technology.
Keywords: embedded systems; six axis articulated robotic arm; STM32 microcontroller; D-H parameter method; kinematic model
