以FPGA为核心控制器,选用高效的空心杯电机、高精度的电机驱动器及高性能的增量式光电编码器设计了一个连杆结构的4自由度机械臂。在Quartus II软件平台中,设计了FPGA与上位机PC的串行通信接口及光电编码器信号采集电路,对编码器输出的信号进行了滤波、四倍频和鉴相设计。基于VC++设计了上位机PC人机交互控制界面,实现了对机械臂单关节和多关节联动的控制。实际应用表明,设计的4自由度机械臂能较稳定、灵活地完成用户指定的动作及目标物体的抓取和搬运,证明了设计的合理性。 Taking the FPGA as the core controller, a 4-DOF arm with connecting rod structure was designed by using efficient hollow cup motor, high-precision motor driver and high-performance incremental photoelectric encoder. In the Quartus II software platform, a serial communication interface between FPGA and PC and a photoelectric encoder signal acquisition circuit are designed. The output signal of the encoder is filtered, quadrupled and phase discriminated. Based on VC ++, the PC PC interactive control interface is designed, which realizes the control of single and multi-joint manipulator. The practical application shows that the designed 4 - DOF manipulator can be more stable and flexible to complete the user - specified actions and the capture and handling of the target object, which proves the rationality of the design.