Design of six-degree-of-freedom manipulator system

Abstract

This paper introduces an arm microcontroller STM32F407 as a core control unit of a six-degree-of-freedom manipulator control system (MCU). A 32-bit MCU series chip is selected to be implemented in the system that sends signals to 32-bit MCU via the upper computer software, which further controls the rotation of the steering gear on each joint of the manipulator; thus, the rotation control of a manipulator is implemented. The entire system consisted of a set of components, includes the main body of a manipulator, a steering gear, a servo drive circuit, a serial port communication circuit, a single chip microcomputer circuit, a PC upper computer software, etc. The upper computer sends a steering gear angle data signal to the 32 MCU through the serial communication circuit. The single-chip microcomputer first takes the received corner signal for data processing converting the data signal to the 32-bit MCU. The corner signal is divided into many small signals by a differential interpolation algorithm. Combined with a single-chip timer, these tiny signals are transformed into a PWM wave with a specific width that can be rotated by a steering gear and then sent to the steering gear to reach the target at a steady rate. The control of the manipulator is implemented by the movement of six steering gears.