机械手-基于DP控制的三坐标点胶机器人（步进电机驱动）的设计-论文.docVIP

摘要 本文介绍了专用电机控制芯片TMSLF2407在点胶机器人系统中的应用，并且阐述了TMSLF2407控制的优点，通过设置相关参数对步进电机进行控制，提出了以TMSLF2407为核心控制器的点胶机控制系统。利用其片内集成的事件管理模块通过软件设计实现脉冲控制。此驱动系统提高了系统控制的性能、步进电动机步距角的精度，从而实现了点胶机的精确定位。该设计简单，实用，具有很高的扩展性。 关键词：点胶机，步进电动机，DSP ABSRACT In this paper introduced the application of special designed motor control chip TMSLF2407 in dispenser control system and elaborated the advantage of DSP control. A dispenser control system had been proposed which based on LF2407 DSP as a core controller, through setting related parameters to implement the controlling of the step motor. Using the event management unit integrated in the chip leads to pulse control by programming. This driver system’s application have proved that it simplified the circuit,improved the system characterisitic,and the step motor gains high accuracy,thus realizes accurate orientation of the dispenser. The system has simple frame and works well in practice, it is easy to be expanded. Key words: Dispenser, step motor, DSP 目录 1 绪论----------------------------------------------------------------------------------------------------------------- 1 2 点胶机系统总体方案设计----------------------------------------------------------------------------- 4 2.1系统运动方式的确定------------------------------------------------------------------------------------4 2.2伺服系统的选择-------------------------------------------------------------------------------------------4 2.3控制系统的选择-------------------------------------------------------------------------------------------5 2.4点胶机的传动方式----------------------------------------------------------------------------------------6 2.5本章小结------------------------------------------------------------------------------------------------------6 3 机械部分的计算与选型----------------------------------------------------------------------------------7 3.1 X-Y平台机械部分的计算与选型------------------------------------------------------------------7 3.1.1直线滚动导轨副的计算与选型------------------------------------