机械5

三自由度机械手控制系统设计 中文摘要 机械手是近30年才发展起来的一种能够模仿人手和手臂的功能，按固定程序抓娶搬运物件或操作工具的自动操作装置，它基本上综合了机电一体化的所有技术研究成果，是当代机电一体化技术发展最活跃的领域之一。 本设计的机械手具有三个自由度，它是由用来执行抓娶操作等动作的末端执行器固定在移动平台上构成的。平台的移动用来扩展机械手的工作空间，使末端执行器可以到达指定的位置工作。平台的三个移动均采用步进电动机作为驱动装置，单片机作为运动控制器。采用软件生成拍脉冲，然后经过光电耦合器消除共地干扰，再经过放大器进行电流和功率放大，得到步进电动机控制绕组所需要的脉冲电流。此外还必须对单片机进行I/O口扩展，在位置和速度输入的控制部分，采用矩阵式键盘。在键盘部分的软件设计主要包括按键消抖、按键识别和数据转换等。通过控制步进电动机脉冲数来控制三个关节在三个直角坐标系上移动的距离；同时通过修改定时器的初值来改变定时时间，从而改变脉冲频率以改变电动机转速。这样就能使这个机械手在规定的空间里达到任意一个位置。 这样的三自由度的机械手既可以用于实际生产，又可以用于教学实验。用于实际生产，它能够满足装配作业内容改变频繁的要求；用于教学实验，它能够使人直观地了解机器人结构组成、动作原理等。所以开发设计和研究机械手具有广泛的实际意义和应用前景。 关键词：步进电动机，单片机，键盘，脉冲 Desig
n a ma
nipulator co
ntrol systemwith 3 degrees of freedom Abstract I
n the past 30years, ma
nipulator have a great developme
nt.It is a ma
npower a
nd arms to mimic the fu
nctio
n a
nd it is a compositive systemwhich i
ntegrati
ng all the tech
nology of mechatro
nics system a
nd the latest research results of artificial i
ntellige
nce tech
nology. It represe
nts the most active area of the tech
nology of mechatro
nics system. The ma
nipulator my desig
ned has three degrees of freedom. The e
nd of it is a actuator fixed o
n mobile platform. The actuator to grasp or operate a
nd so o
n, a
nd the movei
ng platform used to expa
nd thework space of ma
nipulator, so that the e
nd of the actuator ca
n arrive to the desig
nated positio
n.The platform’s mobile is drive
n by stepper motor a
nd co
ntrolled by SCM. We use software to ge
nerate pulse, the
n after Optocoupler to elimi
nate the i
nterfere
nce. Fi
nally the sig
nal must flow through amplifier to amplify electric curre
nt a
nd power, so that the sig
nal ca
n drive the stepper motor. There is also a
need for the 8031 to expa
nd I/O,We use the matrix keyboard to i
nput the co
ntrol sig
nal of positio
n a
ndvelocity. The desig
n of the keyboard i
n the software i
nclude keys buffeti
ng, keypad code ide
ntificatio
n a
nd data tra
nsfer. By co
ntrolli
ng the
number of stepper motor’s pulse,we ca
n co
ntroll the dista
nce of moveme
nt i
n the three joi
nt Cartesia
n. By modifyi
ng the i
nitial timer to cha
nge the timi
ng of time, so thatwe ca
n cha
nge the pulse freque
ncy. Fi
nallywe ca
n cha
nge the motor speed. Thiswill e
nable the ma
nipulator achieve a
ny positio
n i
n the space a
nd the speed is adjustable. These three degree-of-freedom ma
nipulator ca
n be used for the actual productio
n, a
nd experime
nts ca
n be used i
n teachi
ng a. For the actual productio
n, it ca
n meet the assembly operatio
ns’requireme
ntswhich are cha
nged freque
ntly. For teachi
ng experime
nt, people ca
n directly observe the robot structure a
nd easily u
ndersta
nd ratio
n of actio
n. Therefore, the desig
n a
nd developme
nt of ma
nipulator has the most exte
nsive practical sig
nifica
nce a
nd applicatio
n prospects. Keywords: stepper motors, microprocessor, keyboard, pulse 目录 摘要………………………………………………………………. I Abstract…………………………………………………………… II 第1章绪论1 1.1引言1 1.2研究背景1 1.3机械手现状与发展趋势2 1.4本文主要的研究内容4 第2章单片机硬件电路设计5 2.1单片机元件的选择5 2.2复位电路设计6 2.3时钟振荡电路7 2.4显示接口电路设计8 第3章键盘电路设计10 3.1键盘排列设计10 3.2中断电路11 3.3键盘扫描并识别按键13 3.4数据转换设计14 3.5本章小结16 第4章步进电机的驱动和控制17 4.1步进电机的选择17 4.2驱动电路的设计18 4.2.1拍脉冲的生成18 4.2.2隔离电路的设计20 4.2.3功率放大电路的设计21 4.3本章小结22 结论23 谢辞24 参考文献25 附录26