[交通运输]仿形人手设计论文.docVIP

目录 仿人灵巧手的结构设计(控制) I 摘要 I Abstract II 1 绪论 1 1.1 课题的来源 1 1.2 机器手的定义[1] 1 1.3 研究此课题目的及意义 2 1.4 国外的研究状况 2 1.5 国内的研究状况 5 本章小结 7 2 灵巧的机构设计思路[10-11] 9 本章小结 10 3 硬件的原理及选择 11 3.1驱动执行器件的选择[12-13] 11 3.2伺服电机驱动电路的选择[14-15] 12 3.3系统软件控制对象的控制原理 15 3.4 SSC-32控制器工作原理[15-16] 16 本章小结 17 4 控制软件的原理与开发 18 4.1开发工具[16] 18 4.3控制软件的开发 19 4.4 MSComm控件属性设置 20 4.5 控制软件程序设计 21 本章小结 22 总结和展望 23 致 谢 26 参考文献 27 附录 30 仿人灵巧手的结构设计(控制) 摘 要 随着信息技术的飞速发展，自动化成为21世纪制造业发展的重要趋势重点研究了控制系统的实现模式，制定了控制系统总体方案。详细阐述了下位机控制系统硬件和软件设计过程。实现了对手各关节的控制。最后，对本文的工作做了总结，指出了工作的成果及意义，并对今后的进一步工作进行了展望。The structure of the humanoid dextrous hand design (control) Abstract With the rapid development of information technology, automation to become a 21st century manufacturing development important trends. Robot has become a human research hot spot, and robot end has become one of the hotspots - hand. This paper introduces the development of humanoid dextrous hand at home and abroad, and the typical nearly two decades of humanoid dextrous hand structure and features. For four refers to the structure of humanoid dextrous hand in making the selection and appeared in the process of a solution to the problem of instructions, for further research on expeimental results provide theoretical basis for the institution. Research the humanoid dextrous hand serial interface communication control system realization model, the control system overall scheme formulated. Design the humanoid dextrous hand hardware control system, by using SSC - 32 servo motor controller, making control programming efficiency greatly is mention make, illustrates the next place machine control system hardware and software design process. Realize the dexterous hand hand of each joint control. Finally, for the work of this paper summarizes the achievements, points out the work and significance, and the further work for the future was prospected. Keywords:Limb dexterous hand,Structure selection ,Serial communication 1 绪论 1.1 课题的来源人类与动物相比，除了拥有理性的思维能力、准确的语言表