机械手-弹木琴器人-机械手-说明书.docVIP

摘要 本文主要介绍了弹木琴机器人的设计，弹木琴机器人主要由木琴、机械部分、控制部分组成，设计主要包括控制以及机械结构两部分。机械结构设计具体包括移槌装置、击槌装置、人形机构及支架四部分。移槌装置采用步进电机驱动同步带，带动滑座运动，实现待击键位置的定位。击槌装置采用步进电机带动减速器，联接木槌，实现敲击键盘的动作。并进行了电机、同步带的选型计算、轴的校核。人形部分的设计、支架的设计、万向联轴器的选择也做了充分的说明。控制部分采用单片机控制步进电机的方案，通过对脉冲数量的研究，控制电机的步距角，从而达到移槌装置的定位，实现各个音符的敲击。并进行了单片机接口的设计和乐谱示例程序设计。 关键词：弹木琴机器人，人形机构，移槌装置，击槌装置, 同步带，步进电机 ABSTRACT This article mainly discuss the overall design of the robot bomb xylophone.The design is made by two parts,from the control section as well as the machine part.The machine part includes specifically moving mallet system,beating mallet system,human and the support four parts. In which the choice of motor ,grip the sleeve and the cone body moving cone body connection plate design is the key.Human from part of the connection and the universal coupling of the options are to do a full description.Controlled in part by the microcomputer controlled stepper motor,though the control of the number of pulses,precise control of the motor step angle,shift so as to achieve the positioning of the hammer device to achieve the various notes of the percussion.And make a single chip interface design and establishment of control procedures. Though the introduction of this article can be a clear understanding of music in all categories achieve the process of the robot. Key words: xylophone playing robot, humanoid, single-chip, stepper motor ,pulse,movingmallet system, beating mallet system 目 录 1 绪论-------------------------------------------------------------------------------------------------------------------1 1.1 机器人的发展------------------------------------------------------------------------------------------------1 1.2 课题研究的目的-------------------------------------------------------------------------------------------- 3 1.3研究内容--------------------------------------------------------------------------------------------------------3 2 弹木琴机器人的总体方案设计-----------------------------------------------------------------------4 2.1 机械部分及控制部分总体设计-------