Research And Design On Control Circuit For Scara Robot Based On STM32

SCARA(Selective Compliance Assembly Robot Arm) is a facet joint industrial robot, with four degrees of freedom, including the X, Y, Z direction of rotation and linear movement in the Z axis. Industrial robots have become the measure and important symbol of a country's technological and manufacturing level, China's industrial robot technology lags far behind Europe and other developed countries, therefore, it is of great significance to develop China's own industrial robots.The paper introduces the design of a circuit system for the motion control of SCARA robot, detailing the design process of control circuit, motion control planning, control program design, electrical wiring of servo drive systems, focusing on the design of motion control programs which helps to the improvement of SCARA robot capability and anti-interference capability of transmission circuit for differential signals. It designed hardware platform of SCARA robot with the STM32F10xxx microcontroller of ARM Cortex-M3 core as the center of control circuit, mainly including STM32F10xxx basic circuit, power circuit, clock circuit, reset circuit, US ART communication circuit, Ethernet communication circuit, JTAG debugging interface circuits, LCD interface circuit, memory circuit, the differential control signals output and receiving circuit, CAN bus and RS-485 communications circuits. The control circuit system is characterized by smaller size, lower power, high reliability, cheaper, high anti-interference ability, etc.For the programs, this paper focuses on the analysis of design ideas and processes for main program of SCARA robot control. In order to realize the smooth acceleration, constant speed and smooth deceleration of the SCARA robot motion, the author designs the programs of position and velocity control for servo motor by the position control mode, and pulse planning programs for control signals by the S-curve motion control mode, and the author also designs the USART communication program, encoder interface program and other common procedures. The experimental results have basically achieved precise control for SCARA robot by the S-curve motion control mode.Finally, the paper designs the electrical wiring of SCARA robot control circuit, including the setting up of parameters for servo system, wiring of servo motor system main circuit, focusing on the terminal wiring design of the drive's core information input and output signal interface connector(CN1), the control circuit system runs well for performance test.