三自由度機械手控制系統(tǒng)設計含開題及CAD圖

三自由度機械手控制系統(tǒng)設計含開題及CAD圖,自由度,機械手,控制系統(tǒng),設計,開題,cad 三自由度機械手控制系統(tǒng)設計 中文摘要 機械手是近30年才發(fā)展起來的一種能夠模仿人手和手臂的功能，按固定程序抓取、搬運物件或操作工具的自動操作裝置，它基本上綜合了機電一體化的所有技術研究成果，是當代機電一體化技術發(fā)展最活躍的領域之一。 本設計的機械手具有三個自由度，它是由用來執(zhí)行抓取、操作等動作的末端執(zhí)行器固定在移動平臺上構成的。平臺的移動用來擴展機械手的工作空間，使末端執(zhí)行器可以到達指定的位置工作。平臺的三個移動均采用步進電動機作為驅(qū)動裝置，單片機作為運動控制器。采用軟件生成拍脈沖，然后經(jīng)過光電耦合器消除共地干擾，再經(jīng)過放大器進行電流和功率放大，得到步進電動機控制繞組所需要的脈沖電流。此外還必須對單片機進行I/O口擴展，在位置和速度輸入的控制部分，采用矩陣式鍵盤。在鍵盤部分的軟件設計主要包括按鍵消抖、按鍵識別和數(shù)據(jù)轉換等。通過控制步進電動機脈沖數(shù)來控制三個關節(jié)在三個直角坐標系上移動的距離；同時通過修改定時器的初值來改變定時時間，從而改變脈沖頻率以改變電動機轉速。這樣就能使這個機械手在規(guī)定的空間里達到任意一個位置。 這樣的三自由度的機械手既可以用于實際生產(chǎn)，又可以用于教學實驗。用于實際生產(chǎn)，它能夠滿足裝配作業(yè)內(nèi)容改變頻繁的要求；用于教學實驗，它能夠使人直觀地了解機器人結構組成、動作原理等。所以開發(fā)設計和研究機械手具有廣泛的實際意義和應用前景。 關鍵詞：步進電動機，單片機，鍵盤，脈沖 Design a manipulator control system with 3 degrees of freedom Abstract In the past 30 years, manipulator have a great development.It is a manpower and arms to mimic the function and it is a compositive system which integrating all the technology of mechatronics system and the latest research results of artificial intelligence technology. It represents the most active area of the technology of mechatronics system. The manipulator my designed has three degrees of freedom. The end of it is a actuator fixed on mobile platform. The actuator to grasp or operate and so on, and the moveing platform used to expand the work space of manipulator, so that the end of the actuator can arrive to the designated position.The platform’s mobile is driven by stepper motor and controlled by SCM. We use software to generate pulse, then after Optocoupler to eliminate the interference. Finally the signal must flow through amplifier to amplify electric current and power, so that the signal can drive the stepper motor. There is also a need for the 8031 to expand I/O,We use the matrix keyboard to input the control signal of position and velocity. The design of the keyboard in the software include keys buffeting, keypad code identification and data transfer. By controlling the number of stepper motor’s pulse ,we can controll the distance of movement in the three joint Cartesian. By modifying the initial timer to change the timing of time, so that we can change the pulse frequency. Finally we can change the motor speed. This will enable the manipulator achieve any position in the space and the speed is adjustable. These three degree-of-freedom manipulator can be used for the actual production, and experiments can be used in teaching a. For the actual production, it can meet the assembly operations’requirements which are changed frequently. For teaching experiment, people can directly observe the robot structure and easily understand ration of action. Therefore, the design and development of manipulator has the most extensive practical significance and application prospects. Key words: stepper motors, microprocessor, keyboard, pulse 目錄 摘要………………………………………………………………. I Abstract…………………………………………………………… II 第1章 緒論 1 1.1引言 1 1.2研究背景 1 1.3機械手現(xiàn)狀與發(fā)展趨勢 2 1.4本文主要的研究內(nèi)容 4 第2章 單片機硬件電路設計 5 2.1單片機元件的選擇 5 2.2復位電路設計 6 2.3時鐘振蕩電路 7 2.4 顯示接口電路設計 8 第3章 鍵盤電路設計 10 3.1鍵盤排列設計 10 3.2中斷電路 11 3.3鍵盤掃描并識別按鍵 13 3.4數(shù)據(jù)轉換設計 14 3.5本章小結 16 第4章 步進電機的驅(qū)動和控制 17 4.1步進電機的選擇 17 4.2驅(qū)動電路的設計 18 4.2.1拍脈沖的生成 18 4.2.2隔離電路的設計 20 4.2.3功率放大電路的設計 21 4.3本章小結 22 結論 23 謝辭 24 參考文獻 25 附錄 26