手臂伸缩机构的机构草图
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
Manipulator is an automatic operation device,which has the function to imitate some actions of hands and arms of human and according to the fixed programs to snatch and transport objects or operate tools.It can partly or entirely istead of human to engage in some monotonous、burdensome and petitivework. This makes production realized mechanization and automation. It can be operated in harmful environment to protect human. Thus currently they arewidely used in machinery manufacturing, metallurgy, electronics, light industry and atomic energy etc.
This paper first designs the overall strategy according to the design requirements,including manipulator mechanical structure design and manipulator control system design. The main components of manipulator mechanical structure is the ball screw nut. Manipulator control system is one electromechanical integration control system based on the IPC,which PCL839 stepper motor control card is one of the key control components.
Secondly the hardware parts of manipulator are briefly analyzed. Mastering thevarious parameters of manipulator hardware part, preparing for software programming.
One more time,using the graphics functions provided by Turbo C to development the concise color graphic interface meetting the design requirements.
Users can input the corresponding motion parameters in the interface, the softwarewill judge the input parameters and point out the corresponding information.And the softwarewill automatically calculation and transform the input parameters.Then Thenwrite the parameters to the axis registers of PCL839 control card.According to the operation prompt,user press the corresponding key on the keyboard to control manipulator executing corresponding function. With the user as the center,this software control design in this paper has the advantages of humanity.
This software design part adopts the structure of master program and subroutines combinating, each program has corresponding flowchart and program code and the detailed notes.
The structure of the manipulator in this paper is simple, but it can make people understand the control and operation principle of the manipulator and be suitable for teaching and experiment.
Keywords: manipulator，PCL839+ stepper motor control 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
方案示意图
滚珠丝杠
联轴器
流程图
3设计所包含文件
4目录
1字数
2摘要
