机械5

PCL839控制卡在机械手控制中的应用 摘要 机械手是具有模仿人手和手臂的某些动作的功能，按固定程序抓娶搬运物件或操作工具的自动操作装置。它可以部分或全部代替人力，从事一些单调、繁重的重复性劳动，实现生产的机械化和自动化，能在有害环境下操作得以保护人身安全，因而当前正广泛应用于机械制造、冶金、电子、轻工和原子能等部门。 本文首先按照设计要求进行了总体方案设计，包括机械手机械结构设计和机械手控制系统设计。机械手机械机构的主要部件是滚珠丝杠螺母机构。机械手控制系统采用基于IPC的机电一体化控制系统，其中PCL839步进电机控制卡是关键控制部件之一。 其次对机械手的硬件部分进行了简要分析。掌握了机械手硬件部分的各项参数，为软件部分的编程做准备。 再次使用Turbo C提供的图形函数，开发了满足设计要求的简洁的彩色图形界面。用户在此界面下可以输入相应的运动参数，软件会对输入的参数进行判断并提示相应的信息.软件会自动将输入的参数经过计算转换，然后写入PCL839控制卡各轴的寄存器.用户按照操作提示，按下键盘上相应的键，使机械手执行相应的功能。本课题软件控制部分的设计以用户为中心，具有人性化的优点。 本课题软件设计部分采用主程序与子程序相结合的结构，每一个程序都附有相应的流程图和程序代码及其详细注释。 本课题中的机械手的结构虽然简单，但可以使人们了解机械手的工作和控制原理。适合于实验和教学。 关键词：机械手，PCL839+步进电机控制卡,滚珠丝杠，驱动电路 Abstract Ma
nipulator is a
n automatic operatio
n device,which has the fu
nctio
n to imitate some actio
ns of ha
nds a
nd arms of huma
n a
nd accordi
ng to the fixed programs to s
natch a
nd tra
nsport objects or operate tools.It ca
n partly or e
ntirely istead of huma
n to e
ngage i
n some mo
noto
nous、burde
nsome a
nd petitivework. This makes productio
n realized mecha
nizatio
n a
nd automatio
n. It ca
n be operated i
n harmful e
nviro
nme
nt to protect huma
n. Thus curre
ntly they arewidely used i
n machi
nery ma
nufacturi
ng, metallurgy, electro
nics, light i
ndustry a
nd atomic e
nergy etc. This paper first desig
ns the overall strategy accordi
ng to the desig
n requireme
nts,i
ncludi
ng ma
nipulator mecha
nical structure desig
n a
nd ma
nipulator co
ntrol system desig
n. The mai
n compo
ne
nts of ma
nipulator mecha
nical structure is the ball screw
nut. Ma
nipulator co
ntrol system is o
ne electromecha
nical i
ntegratio
n co
ntrol system based o
n the IPC,which PCL839 stepper motor co
ntrol card is o
ne of the key co
ntrol compo
ne
nts. Seco
ndly the hardware parts of ma
nipulator are briefly a
nalyzed. Masteri
ng thevarious parameters of ma
nipulator hardware part, prepari
ng for software programmi
ng. O
ne more time,usi
ng the graphics fu
nctio
ns provided by Turbo C to developme
nt the co
ncise color graphic i
nterface meetti
ng the desig
n requireme
nts. Users ca
n i
nput the correspo
ndi
ng motio
n parameters i
n the i
nterface, the softwarewill judge the i
nput parameters a
nd poi
nt out the correspo
ndi
ng i
nformatio
n.A
nd the softwarewill automatically calculatio
n a
nd tra
nsform the i
nput parameters.The
n The
nwrite the parameters to the axis registers of PCL839 co
ntrol card.Accordi
ng to the operatio
n prompt,user press the correspo
ndi
ng key o
n the keyboard to co
ntrol ma
nipulator executi
ng correspo
ndi
ng fu
nctio
n. With the user as the ce
nter,this software co
ntrol desig
n i
n this paper has the adva
ntages of huma
nity. This software desig
n part adopts the structure of master program a
nd subrouti
nes combi
nati
ng, each program has correspo
ndi
ng flowchart a
nd program code a
nd the detailed
notes. The structure of the ma
nipulator i
n this paper is simple, but it ca
n make people u
ndersta
nd the co
ntrol a
nd operatio
n pri
nciple of the ma
nipulator a
nd be suitable for teachi
ng a
nd experime
nt. Keywords: ma
nipulator，PCL839+ stepper motor co
ntrol card, The ball screw，drive circuit 目录 引言1 1机械手的背景、现状及发展趋势1 1.1背景1 1.2机械手现状及发展趋势3 2系统方案总体设计6 2.1设计要求6 2.2机械手机械结构设计6 2.3机械手控制系统设计6 2.3.1控制系统硬件设计6 2.3.2控制系统软件设计7 2.3.3机械手整体结构和各部件连接7 3机械手硬件部分分析9 3.1机械本体分析9 3.2控制部分分析11 4控制系统软件设计20 4.1本课题使用的函数的描述20 4.1.1使用到PCL839控制卡自带函数的描述20 4.1.2使用到C语言图形函数20 4.2 PCL839控制卡指令介绍22 4.3 PCL839控制卡寄存器的介绍23 4.4应用软件设计思想27 4.5用户界面设计28 4.6参数输入判断子程序设计32 4.7寄存器写值子程序设计37 4.8画运动轨迹子程序设计38 4.9主程序设计41 5结论45 谢辞46 参考文献47 附录软件操作手册48