关机器人的基本动作，提供软硬件扩展空间，在该平台上可以进行相关课程的教学，也可以进行综合实践教学和课程设计。更重要的是，利用这样一个平台可以使学生在对机器人的学习认知过程中，激发想象力，在实践中培养创新精神和创新能力。

本设计采用主从控制方式，以AT89S52为主控制器，PSC伺服控制器为从控制器，控制电机的转动角度，以实现机械手的不同功能。

论文中主要介绍了系统的组成模块及各个模块的功能实现方法，同时详细介绍了AT89S52内部结构及资源分配，给出了系统电源电路、信号检测电路、PSC接口控制电路，显示器接口控制电路的设计方法及工作原理。论文中在给出机械手运动解析表的基础上，说明了机械手基本动作和取动作的控制方法和实现方法。

关键词：六自由度机械手；实验教学平台；AT89S52单片机；PSC伺服控制器

Abstract：The issue presented to design a six degree of freedom manipulator experimental teaching platform for students to provide the robot's basic action, and provide expansion space for hardware and software, in which the platform can be related to the teaching, but also to undertake a comprehensive practice teaching and curriculum design . More importantly, the use of such a platform will enable students to learn the robot's cognitive process, stimulate imagination and creative spirit in practice and innovation.

This design uses a master-slave control mode to the main controller AT89S52, PSC servo controller from the controller to control the motor rotation angle to achieve different functions of the manipulator.

Paper introduces a system composed of modules and each module function implementation method, described in detail AT89S52 while the internal structure and resource allocation, given the system power supply circuitry, signal detection circuits, PSC interface control circuit, the display interface control circuit method and it works. Paper in the given robot motion based on the analysis table shows the basic mechanical hand movements and take action to control and implementation methods.

Keywords: 6 DOF manipulator experimental     teaching platform    AT89S52 SCM    PSC servo controlle