基于arm9的宝石磨抛机嵌入式控制系统的设计-机械工程专业论文.docxVIP

摘 摘 要 I万方数据 I 万方数据 摘 要 我国虽然是人造宝石生产大国，但人造宝石的加工过程是非自动化的，生产设备 技术含量低。通过对国内外人造宝石磨抛机、数控技术、嵌入式技术、机器人技术的 现状与发展趋势的研究，本文设计了基于 ARM9 的宝石磨抛机嵌入式控制系统，主要 从系统的上位机与下位机、自动化控制、稳定性方面进行研究，目的设计出一套低功 耗、低成本、体积小的人造宝石自动化加工系统。本文主要的研究设计工作如下： 1.设计了阶梯式多边形琢型人造宝石的自动化加工控制算法，也为设计自动化加 工其它人造宝石琢型提供了参考方法。 2.ARM9 作为上位机，单片机作为下位机，嵌入式 Linux 系统作为软件平台。搭 建了系统的软硬件平台，设计了磨抛机与机械手的人机交互界面和上下位机的通信方 案。 3.设计了机械手运动控制方案，机械手作用是配合磨抛机工作实现自动化加工人 造宝石，以提高人造宝石生产效率，改善工作环境。 4.设计了步进电机传动控制方法，输出速度采用三角函数型曲线进行控制，以提 高机器工作的平稳性和寿命。 最后，通过对所设计的系统模块进行实验与仿真分析，验证了系统的可行性。 关键词：嵌入式；人造宝石；自动化；平稳性 Ab Abstract II万方数据 II 万方数据 Abstract Though our country is a large man-made gem production country, the machining process of artificial gem is non-automated, production equipments’ technology content is low. Trough research the current situation and trend of development of artificial gem polishing machine, numerical control technology, embedded technology and robotics at home and abroad, this paper has designed gem polishing machine embedded control system based on ARM9, the article main researches the aspects of upper computer and lower computer, automation control, stability, its aim is to design a low power consumption, low cost, small volume of artificial gem automation processing system. The article mainly study design works as follows: Designs automated processing control algorithm about artificial gem with the shape of stepped polygon, it also provides the reference method for designing automation processing other artificial gem shapes. ARM9 as the upper machine, single-chip microcomputer as the lower machine, embedded Linux system as software platform. builds software and hardware platform of the system，and designs the human-computer interaction interface of polishing machines and manipulators, besides, the communication scheme of the upper computer and lower computer. Designs manipulator motion control scheme, the function of it is that works with polishing machine to realize automatic processing artificial gems, to improve the efficiency of art