机械手-机器人验及开发柔性平台的设计-说明书.docVIP

摘 要 机器人技术是一种利用电子技术、信息技术使机械系统实现柔性化的自动化技术。，实践教学已成本科教育的重要，但学生真正工程实践的机会却很少，学生的创新能力不能得到充分发挥。因此迫切需要建设既能实践基础教学，又能激发学生创造力的创新设计与实验平台 本文提出一种基础的柔性实验平台的设计思想与结构模型。并根据柔性实验平台的设计理念，以整个机器人的运动为实验平台对柔性实验平台运动控制系统的软硬件系统进行了设计，详细描述了基于单片机的机器人实验平台的硬件控制。 柔性实验平台运动控制系统的设计已经完成，在此实验平台上实验人员可以根据自己的要求进行多种创新设计和实验。 本文第一章对机器人柔性实验平台实验的意义与机器人柔性实验平台的国内外现状进行了描述。 本文第二章对机器人柔性实验平台进行了总体介绍，对机器人实验平台的总体方案进行了详细介绍。对机器人各个机构所要用到的电机和驱动器进行了初步的选型，并介绍了各自的特点和原理。 本文第三章是整体设计部分的内容，涵盖了计算部分的设计，具体阐述了各个机构详细的设计思路、机器人运动的具体参数以及整体配合时的可行性。 第四章介绍了基于单片机的机器人实验平台的运动控制器的硬件设计，并对运动控制中所需要注意的问题进行了探讨。配合第三章内容，完成整个平台的硬件设计。 关键词：机器人，单片机，机械手 ABSTRACT Robot technology is a use of electronic technology and information technology to mechanical systems to achieve flexible automation technology. In scientific research, teaching and developing process, the robots development and innovation has been of great significance. Today, the practice of teaching has become an important part of undergraduate education, especially reflected in the innovative research and development on the subject. However, the experimental platform for the teaching practice of a serious shortage of college students really is not much chance of engineering practice, the students of innovation can not be fully realized. Therefore, both the urgent need to build the basis of practice teaching, students can stimulate creativity, innovative design and test platform. This paper presents a basic experimental platform for the robot design, and completed the control system hardware and software design. This paper presents a flexible experimental platform based design and structural model. Experimental platform based on flexible design concept, the whole robot experimental platform for the experimental platform for motion control system of flexible hardware and software system design, detailed description of the experimental robot platform based on single chip hardware control. Flexible experimental platform for motion control system design has been completed, in this experimen