流程图
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
Design a manipulator control systemwith 3 degrees of freedom
Abstract
In the past 30years, manipulator have a great development.It is a manpower and arms to mimic the function and it is a compositive systemwhich 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 thework 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 andvelocity. 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 thatwe can change the pulse frequency. Finallywe can change the motor speed. Thiswill 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’requirementswhich 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.
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
设计参数
设计所包含文件
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