A kind of Multifunctional planar mechanical arm system

The present invention relates to a kind of Multifunctional planar mechanical arm systems, mainly include mechanical arm, motor, encoder, speed reducer and electromagnetic brake；It is linked in the form of revolute pair between mechanical arm and between first mechanical arm and pedestal；System works in the horizontal plane；First joint and second joint are fixing joint, and third joint and the 4th joint are detachable joint；First joint and third joint installation motor, encoder and retarder；Second joint installs encoder and electromagnetic brake；4th joint is installed by motor and retarder；By selecting whether electromagnetic brake is opened, and detachably, whether joint installs with corresponding mechanical arm, and the present invention can develop into a plurality of types of planes and drive entirely and activation lacking mechanical arm system；By replacing the mechanical arm of different length and quality, the parameter of mechanical arm can be changed；It is achievable to the setting of controller parameter and the realization of control algolithm by writing human-computer interaction interface, and the motion state in each joint of real-time monitoring.