Three axes full servo robotics design and application

摘要

This paper presents a new design of three axis full servo robot. The detailed design work includes the mechanical structure design with three mutual perpendicular arms. All axes of this robotics are driven by AC synchronous servo motor. Based on such a mechanical structure, the electrical system with DSP and the programmable logic device (CPLD) is designed. DSP of TI TMSF2812 is used to achieve digital signal processing and human to machine interface. The CPLD is used to run logic calculation and trajectory planning. Experiment shows that the robot could precisely move following an pre-designed locus with high speed and accuracy in the three-dimensional space.