Design of modularized joint of service robot arm

This paper designed a modularized robot joint unit used for servant robot. Completed with direct circuit (DC) motor actuating, control and communication function, this unit can both rotate and wing. Design a driving system which composes DC servo motor and plenary reducer. By setting aside the motor, realize the center hole routing, the wearing and wiring of the robot control cable is avoided. An integrative control and driving system is designed. The system uses singlechip AT89S52, motor control chip LM629, motor driving chip LMD18200 and photoelectric coder to control the DC motor. In order to reduce the cable number in robot arm, the CAN (controller area network) bus serial communication system constitutes CAN bus control chip, CAN transceiver and PCA82C250. The results of joint performance tests show that this modularized joint output torque is 2 N·m and resetting accuracy is ±0.15°.