三轴伺服注塑机机械手上位机控制器的设计与实现-系统分析与集成专业毕业论文.docxVIP

浙江大学硕士学位论文 浙江大学硕士学位论文 摘要 摘 要 随着我国注塑行业更加蓬勃的发展，旋臂式、全气动和单轴伺服注塑机机械 手已经不能满足现在注塑行业的市场需求。可以预见的是，诸如三轴或五轴伺服 注塑机机械手一类的高精度、高技术含量注塑机械将成为未来注塑行业的主流。 注塑机专用机械手是为注塑生产自动化专门配备的机械，是指能模仿人体上 肢的部分功能，按照预定要求输送制品或操持工具进行生产操作的自动化生产设 备。本文以三轴伺服注塑机机械手为研究对象，根据注塑机机械手实际运动的特 点和特性，设计实现了一款以ARM9为硬件核心，以嵌入式Linux为操作系统 的上位机控制器。 本文首先介绍了注塑机机械手的应用和发展背景，针对上位机控制器的功能 要求，提出了控制器设计的硬件、软件实施方案。然后详细阐述了基于 AT91RM9200的上位机控制器硬件平台的各个模块，如核心模块、人机交互模块、 通信模块和电源管理模块。在此基础上，进一步描述了基于嵌入式LimLx操作系 统的上位机控制器软件平台的搭建过程。在应用软件开发方面，针对三轴伺服注 塑机机械手的动作流程，实现了LCD显示和触摸屏响应模块、键盘输入模块、 串口通信模块以及以太网通信模块的功能。 整套系统硬件、软件设计方案实用可靠，配合基于DSP的注塑机机械手下 位机控制器进行联调，实际运行效果稳定良好。 关键字：AT91RM9200、嵌入式Linux、上位机控制器、三轴伺服注塑机机械手 三轴伺服注塑机机械手上位机控制器的设计与实现 II AbstractWith Abstract With the more vigorous development of China’S inj}ection molding industry,the rotating arm，pneumatic and single—axis servo injection molding machine manipulator call not meet the market demand for the injection molding industry．It is foreseeable that high accuracy,high technical content of injection molding machineries such as three．．axis or five．．axis servo injection molding machine manipulators will become the future mainstream of the inj ection molding industry． Injection molding machine manipulators are specially equipped for injection molding production automation．They are a sort of automated production equipments that could mimic some of the features of the human upper limb to transport products or manipulate tools to carry out production operations in accordance with the predetermined requirements．This thesis is based on the study of the three-axis servo injection molding machine manipulator．According to the characteristics and features of the actual movement of the manipulator,ail upper controller is designed and implemented based on the ARM9 as its hardware core and embedded Linux as its operating system． Firstly,this thesis introduces the application and development background of the injection molding machine manipulator and proposes a whole package of hardware and software implementation of the u