基于单片机控制的三自由度机械手设计（伺服电机）任务书.doc

摘 要 在工业上，自动控制系统有着广泛的应用，如工业自动化机床控制、计算机系统、机器人等。而工业机器人是相对较新的电子设备，它正开始改变现代化工业面貌。全自动机械手能模仿人手和手臂的某些动作功能，用以按固定程序抓取，搬运物体或操作工具的自动操作装置，机械手主要由手部和运动机构组成。按照抓持物件形状、尺寸、重量、材料和作业要求的不同，手部有多种结构形式，如夹持型，托持型和吸附型等。运动机构的功能是使手部完成各种转动、移动或复合运动来实现规定的动作，并改变被抓持物件的位置和姿势。运动机构的升降、伸缩、旋转等独立运动方式，称为机械手的自由度。本设计选用三自由度圆柱坐标型工业机器人，其工作方向为两个直线方向和一个旋转方向，其中两个直线方向是通过滚珠丝杠来实现小臂与大臂的伸缩，升降。旋转是通过伺服电机带动机械手基座转动来实现的。在控制器的作用下，它执行将工件从一条流水线抓取并运送到另一条流水线这一简单的动作。 关键词：三自由度，圆柱坐标，工业机器人 ABSTRACT Industrially, the automatic control systems are found in numerous applications, such as the automation machine tool control, computer systems and robotics. Industrial robots, as the relatively new electromechanical devices, are changing the appearance of the modern industry. Automatic robot arm can mimic certain actions of hunman hands and arms,like a fixed procedure for the object capturing, moving objects or tools operating of the automatic operation device, Robot arm is composed of the hand the moving mechanism. with the differences of the shape, the size, the weight, the material and the operational requirements, the hand has various structural forms, such as clamp type, care support and the adsorption type, etc. The function of the moving mechanism is to accomplish a variety of hand rotation, movement or campaign to achieve the required composite action and to change the location and the posture of objects. The independence movements of the lifting, the stretching and the rotation are referred as the degrees of freedom manipulator. This paper introduced a cylindrical robot for three degree of freedom. The working direction are composed of two linear directions, which are implement through the stretching of forearm and are driven by a ball screw, and one rotary direction, which is implemented through the rotation of the robot base driven by a servo motor. Under the action of the controller, it performs the work piece form a line capture and transport to another line of action of this simple action[1]. Key words ： 目 录 1 绪论 1 1.1 课