按摩机器人扭腰系统结构设计与控制.docVIP

摘要 洛阳理工学院毕业设计（论文） PAGE IV PAGE 7 按摩机器人扭腰系统的结构设计与控制 摘 要 本设计分析了当今国内外按摩机器人的发展现状及应用前景，主要研究与设计了腰椎按摩机器人腰部扭动的结构与控制系统。根据扭腰结构的工作原理完成扭腰系统的总体结构设计，设计了各个零件的尺寸大小及材料选择。对主要结构的承重及结构自身重量进行分析，并对部分结构进行强度计算，完成强度校核。设计了电机的安装位置及行程速度，选择合适的推杆电机，使之能够满足系统的动力要求。通过Pro/ENGINNEER软件绘制出产品的三维图。通过分析扭腰系统的控制要求，结合单片机及计算机控制技术等相关知识，选择合适的元器件，设计出控制推杆电机的电路，通过Proteus仿真软件绘制出控制电机的电路图，运用C语言在Keil uVision4软件上对控制程序进行编写，将编写的程序导入到Proteus软件中进行仿真调试。 关键词： 按摩机器人,推杆电机,单片机,程序 Structure Design and Control of Robot Waist Massage System ABSTRACT This design analyzes the current development of massage robot at home and abroad present situation and application prospect, research and design the structure of the lumbar massage robot waist twisting and control system. According to the working principle of twisting the waist structure finish wriggled system overall structure design; design the size of each part and material selection. The bearing of main structure and structure of its own weight to carry on the analysis, and the parts structure strength calculation, complete intensity. Design the installation position of the motor and travel speed, choose the Linear Actuator, can satisfy the systems power requirement. Through the Pro/ENGINNEER software to map the products 3 d figure. Analysis wriggled system control requirements, combined with SCM and computer control technology and other related knowledge, choosing the right components designed putter motor control circuit, through the Proteus simulation software to draw out the motor control circuit, using C language software in Keil uVision4 to write a control program, a program written into the Proteus simulation software debugging. KEY WORDS: massage robot, linear actuator，microcontroller，program 前言 目　录 TOC \o 1-3 \h \z \u HYPERLINK \l _Toc358634288 前　言 PAGEREF _Toc358634288 \h 1 HYPERLINK \l _Toc358634289 第1章 绪论 PAGEREF _Toc358634289 \h 2 HYPERLINK \l _Toc358634290 1.1 按摩机器人的背景分析 PAGEREF _Toc358634290 \h 2 HYPERLINK \l _Toc358634291 1.2 按摩机器人设计的意义 PAGER