说明书--基于IPC的分拣机械手控制器设计.docVIP

编号： 毕业设计说明书 题 目： 基于IPC的 分拣机械手控制器设计 院 （系）： 机电工程学院题目类型： 理论研究 实验研究 (工程设计 工程技术研究 软件开发 2008年 6 月 6 日 摘 要 机械手是一种能模仿人手的某些动作，代替人完成某些特定工作的自动化装置。它可代替人的繁重劳动以实现生产的机械化和自动化，能在有害环境下操作以保护人身安全，因而广泛应用于机械制造、冶金、电子、轻工和原子能等部门。 本设计主要是二维机械手运动的控制。机械手采用的是两相混合型步进电机作为动力源，应用L298双H桥芯片作为步进电机驱动器来实现步进电机正反转的控制。除机械手步进电机控制外，本设计还要完成传送装置的设计、传感器电路的设计，这些设计配合机械手完成物体的分拣动作。 采用安装在微机 WINDOWS 98系统DOS下的TURBO C软件对微机并口进行编程控制。设计需要完成对射管检测将要被分拣的物体到来和接近开关检测金属和非金属的信号采集，并将采集结果通过微机状态口送入微机，微机根据采集信号的状态通过数据口控制步进电机旋转，横轴和竖轴采取不同的运动组合完成分拣运动，将金属和非金属区分开。 通过本毕业设计，深入了解步进电机的工作原理和工作性能，掌握微机并行接口的工作原理，学会设计步进电机驱动电路和信号传感器的应用电路。在电路制作过程中，学会如何用Protel99se软件进行电路原理图和PCB图的绘制，掌握手工制作PCB板的方法。 关键词：机械手；并行端口；L298 Abstract Manipulator is a kind of automation devices which can mimic some action of people and complete some certain work instead of people. It can replace the heavy labor of people to achieve the production mechanization and automation ,can be operated in the harmful environment to protect the personal safety ,therefore,it is widely used in machine building, metallurgy, electronics, light industry and atomic energy departments. The design is main about the movement control of the two-dimensional manipulator.The manipulator uses a two-phase hybrid stepping motor to be the power source , and apply L298 Double H-bridge chip as a stepper motor drive to achieve positive and the stepper motor control.In addition to the stepper motor control of the Manipulator,The design also needs to complete te design of transmission device and the design of the sensor circuit, these design will complete the sorting action with the manipulator. We will programming control the parallel port of the computer by using the TURBOC software under the DOS of WINDOWS 98 which is installed in the computer.The design needs to complete the signal acquisition of whether having objects come close to switching and the testing of metals and non-metallic,then,the results will be sent to the computer through