基于EMC2的教学型机械手的设计.doc

PAGE PAGE II 基于EMC2的教学型机械手的设计 Design of a manipulator used in teaching based on EMC2 system 摘要 近年来随着教学理念的转变，加强实践教学已成为目前国内各高校教育教学改革的重要趋势。为了活跃实践教学氛围，巩固和加深学生对基础理论知识的理解，培养学生的创新能力和实际操作能力，本团队设计并制作了一套针对机械工程专业课程进行实践教学的机电一体化教学实训用具。 而本论文主要研究了基于EMC2的三自由度串联关节机械手。 本文首先以串联机械手原理，设计了三自由度的机械手总体方案，设计出传动方式，底座使用直齿轮减速传动，大臂与小臂均使用锥齿轮换向传动，绘制出三维图，进行必要的运动仿真，并根据三维图估算原动机机扭矩，选择电机型号。 然后建立出三自由度机械手数学模型，计算出运动学逆解，并通过MATLAB仿真验证。 最后进行控制系统设计并搭建出实物，进行实物调试，系统使用Linux界面下的EMC2控制系统，最终调试得出该机械手可以实现特定轨迹运动，结构紧凑可靠，成本低廉，能较好的满足教学应用。 关键词：串联机械手; 结构设计; 传动方式; 运动学逆解;EMC2 Abstract In recent years, as the change of teaching concept, strengthen the practice teaching has become the important trend of the domestic various universities education teaching revolution. To make practice teaching atmosphere active, consolidate and deepen students understanding of basic theoretical knowledge and cultivate students innovation ability and practical ability, our team has designed and produced a set of mechanical engineering practical appliance for courses typically in practical teaching of mechanical and electrical integration teaching. This paper mainly studied a three-dof manipulator based on EMC2. First of all,based on manipulator principle, this paper designed the overall scheme of three dof manipulator , and designed the drive way .The base use straight gear to realize reduction drive, both large arm and forearm use bevel gear to realize reverse drive. Then, draw 3 d graph, and command the necessary simulation exercise.Finally, estimate the torque of motor and choose the model of motor according to the 3 d graph. And then establish a mathematical model of the three degrees of freedom manipulator, calculate the inverse kinematic solution and verify it by MATLAB simulation. Finally carry on the design of control system and build the physical product, then adjust the physical product. The control system uses EMC2 which is based on Linux system, and finally it is concluded that the manipulator can implement specific t