三自由度機(jī)械手控制系統(tǒng)設(shè)計(jì)含開題及CAD圖

三自由度機(jī)械手控制系統(tǒng)設(shè)計(jì)含開題及CAD圖,自由度,機(jī)械手,控制系統(tǒng),設(shè)計(jì),開題,cad 三自由度機(jī)械手控制系統(tǒng)設(shè)計(jì) 中文摘要 機(jī)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(yùn)物件或操作工具的自動(dòng)操作裝置，它基本上綜合了機(jī)電一體化的所有技術(shù)研究成果，是當(dāng)代機(jī)電一體化技術(shù)發(fā)展最活躍的領(lǐng)域之一。 本設(shè)計(jì)的機(jī)械手具有三個(gè)自由度，它是由用來執(zhí)行抓取、操作等動(dòng)作的末端執(zhí)行器固定在移動(dòng)平臺(tái)上構(gòu)成的。平臺(tái)的移動(dòng)用來擴(kuò)展機(jī)械手的工作空間，使末端執(zhí)行器可以到達(dá)指定的位置工作。平臺(tái)的三個(gè)移動(dòng)均采用步進(jìn)電動(dòng)機(jī)作為驅(qū)動(dòng)裝置，單片機(jī)作為運(yùn)動(dòng)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(jìn)行電流和功率放大，得到步進(jìn)電動(dòng)機(jī)控制繞組所需要的脈沖電流。此外還必須對(duì)單片機(jī)進(jìn)行I/O口擴(kuò)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(shè)計(jì)主要包括按鍵消抖、按鍵識(shí)別和數(shù)據(jù)轉(zhuǎn)換等。通過控制步進(jìn)電動(dòng)機(jī)脈沖數(shù)來控制三個(gè)關(guān)節(jié)在三個(gè)直角坐標(biāo)系上移動(dòng)的距離；同時(shí)通過修改定時(shí)器的初值來改變定時(shí)時(shí)間，從而改變脈沖頻率以改變電動(dòng)機(jī)轉(zhuǎn)速。這樣就能使這個(gè)機(jī)械手在規(guī)定的空間里達(dá)到任意一個(gè)位置。 這樣的三自由度的機(jī)械手既可以用于實(shí)際生產(chǎn)，又可以用于教學(xué)實(shí)驗(yàn)。用于實(shí)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(xué)實(shí)驗(yàn)，它能夠使人直觀地了解機(jī)器人結(jié)構(gòu)組成、動(dòng)作原理等。所以開發(fā)設(shè)計(jì)和研究機(jī)械手具有廣泛的實(shí)際意義和應(yīng)用前景。 關(guān)鍵詞：步進(jìn)電動(dòng)機(jī)，單片機(jī)，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(jī)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(jī)硬件電路設(shè)計(jì) 5 2.1單片機(jī)元件的選擇 5 2.2復(fù)位電路設(shè)計(jì) 6 2.3時(shí)鐘振蕩電路 7 2.4 顯示接口電路設(shè)計(jì) 8 第3章 鍵盤電路設(shè)計(jì) 10 3.1鍵盤排列設(shè)計(jì) 10 3.2中斷電路 11 3.3鍵盤掃描并識(shí)別按鍵 13 3.4數(shù)據(jù)轉(zhuǎn)換設(shè)計(jì) 14 3.5本章小結(jié) 16 第4章 步進(jìn)電機(jī)的驅(qū)動(dòng)和控制 17 4.1步進(jìn)電機(jī)的選擇 17 4.2驅(qū)動(dòng)電路的設(shè)計(jì) 18 4.2.1拍脈沖的生成 18 4.2.2隔離電路的設(shè)計(jì) 20 4.2.3功率放大電路的設(shè)計(jì) 21 4.3本章小結(jié) 22 結(jié)論 23 謝辭 24 參考文獻(xiàn) 25 附錄 26