机器手控制系统的设计

文档字数:14627,页数:41

摘要
 机械手臂是机器人的一个重要部分，机械手臂能代替人做一些较危险的工作，因此就有越来越多的人研究关于机械手臂控制技术，使得机械手臂的控制技术也得到很大的发展。借鉴市场上很多对机械手臂的设计技术，本次的毕业设计是基于PCI－7401总线控制的机械手水平运动控制系统设计，要求设计一个二自由度二关节的机械手，让它据有自由旋转的功能，和我们设计好的一些动作。在了解机械手的结构特点，以及机械手的发展，还有我们对它的要求和设计的目的，我们设计了以PCI－7401总线接口板、信号放大电路、PWM控制系统和机械手所组成一个控制系统，通过计算机编写程序来对机械手进行操作，完成我们所要求的各种功能。
 在这次的毕业设计过程中,主要完成了由信号放大电路与脉冲调制电路(PWM),H型脉冲功率放大电路所组成的一个系统,完成PCB图到完成实物的电路板, 电路板调试通过以后，再通过VC软件编程，来实现最终目的，最终也成功实现了机械手的定点转向和闭环反馈功能。
 
关键词：机械手；PCI接口板;；PWM控制；闭环反馈

 Abstract
 The machine arm is an importance of robot part, and the machine arm can replace a person to do some more dangerous works, sothat more and more people to study concerning machine arm a control a technique, make the control technique of machine arm also get a very big development.Draw lessons from a lot of on the market to the design technique of machines arms, the graduation design of this time is according to PCI－7401 total line of machine hand level control system, request to design 1 two freedom degrees the machine hand of two joints, let it occupy the function that the freedom revolve, and we design a little bit good actions.Be understand the structure characteristics of machine hand, and the development of machine hand, there is also the purpose of our request to it and experiment, we designed to connect a people's plank, power enlarger, pulse width to make a control system that electric circuit and machine hand constitute by PCI－7401 total lines, write procedure to carry on an operation to the machine hand through a calculator and complete various function that we request.
 In this graduate design process, I was mainly completed by the signal amplifier circuit with pulse modulation (PWM), H-pulsed power amplifier system consisting of a complete PCB plans to complete the kind of circuit boards, circuit boards Following the adoption of debugging, and then through the VC software programming, to achieve the ultimate goal, we have successfully achieved a mechanical hand to the fixed-point and closed-loop feedback.

Keywords: Machine Hand;The PCI Interface board; The PWM Control；Closed-loop feedback

目  录
摘  要 I
Abstract II
目  录 III
1  绪 论 1
1.1  机械手的基本概念  1
1.2  设计控制系统的目的及意义  2
2  控制系统概述 3
2.1  机械手控制系统在国内外的发展状况  3
2.2  机械手控制系统的发展前景  5
3  机器手控制系统硬件的设计 6
3.1  机器手控制系统的结构和原理  6
3.2  控制系统硬件部分设计  7
 3.2.1  PCI-740的介绍  7
 3.2.2  驱动电路的设计  10
3.3  驱动电路的调试  14
4  机器手控制系统软件的设计  19
 4.1  机器手控制系统软件设计流程概述  19
 4.2  PCI-7401引脚介绍  22
 4.3  控制系统操作界面设计与程序的调试  23
5  总结与展望  32
致  谢 33
参考文献 34

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