单片机机器人控制系统设计.docVIP

毕业设计说明书 GRADUATE DESIGN 设计题目：单片机机器人控制系统设计 学生姓名： 专业班级： 学 院：机械工程学院 指导教师： 摘　　要 施釉是卫生陶瓷生产过程中的一个重要工序，它利用压缩空气将釉浆雾化喷涂于坯体表面。长期以来，我国施釉工序主要靠手工完成，其作业环境恶劣，劳动强度大，质量差，生产效率低。随这人们物质文化生活需求的日益增长，对卫生陶瓷生产提出了更高要求。用机器人代替人工施釉已成为卫生陶瓷生产的发展方向。 介绍了卫生陶瓷施釉工艺和装备、运动控制的研究现状以及单片机的发展。在所给条件下对机器人的运动控制系统进行分析。根据要求提出了一种基于PIC单片机和MCX314As运动控制芯片的一种机械手运动控制系统。 本设计选用了PIC16F877单片机，进行了控制系统外部接口电路设计和软件设计采用CPU对喷枪轨迹的线性插补和运动控制模块的位模式插补的并行处理方法，满足了工作需求。对MCX314As运动控制芯片的各种寄存器等进行了说明和设置。选用了光电耦合器和RC滤波器，并采用了接地线的措施，对硬件系统作了抗干扰设计,软件系统作了稳定性设计，提高了系统的稳定性和准确性。 关键词：PIC单片机；MCX314As运动控制芯片；位模式插补 Abstract Glazing is an important working procedure in the manufacture of sanitary ware, which atomizes and sprinkle glair on ware surface by the compressed air. In our country, glazing by the hands has been the main form for a long term, but its environment is bad, work intensity is great, quality is poor and producing efficiency is low. With the improvement of people’s lives, it brings higher requirement to the sanitary ware. So glazing by robot instead of handwork becomes the fashion to the sanitary ware industry. On the sanitary ceramics glazing techniques and equipment, movement control of the status quo and the development of SCM. To the conditions in which the robots movement control system for analysis. According to a request based on PIC and motion control chip MCX314As a manipulator motion control system. The design selected PIC16F877 microcontroller, the external control system interface circuit design and software design using the CPU Lance linear interpolation of the trajectory and movement control module of the model interpolation of parallel processing methods to meet the demand for work. MCX314As motion control chips for the various registers and other settings and a note. Selection of the opt coupler and RC filters, and adopt measures to the grounding line, made anti-jamming system hardware design, software systems were designed stability, improve the systems stability and accuracy. 全套设计联系小企鹅：229780692 KeyWords： PIC mcu