本文選題：機(jī)器人控制系統(tǒng) + 步進(jìn)電機(jī)�。� 參考：《西安工業(yè)大學(xué)》2017年碩士論文

【摘要】：企業(yè)為實(shí)現(xiàn)對(duì)輕小部件連續(xù)生產(chǎn)線自動(dòng)化改造,極大地增加了對(duì)輕負(fù)載、低成本機(jī)器人的需求。針對(duì)直線式分配器感應(yīng)焊接設(shè)備,研發(fā)一款小型號(hào)、低成本,能夠?qū)崿F(xiàn)自動(dòng)拆裝焊件的機(jī)器人,以節(jié)約制造成本,提高生產(chǎn)效率,具有較好的實(shí)際意義。本文設(shè)計(jì)了一種可以控制機(jī)械臂運(yùn)動(dòng)的小型機(jī)器人控制系統(tǒng),其中選用步進(jìn)電機(jī)和舵機(jī)作為機(jī)械臂關(guān)節(jié)電機(jī),選用STM32F103VCT6作為核心控制芯片,應(yīng)用CAN總線作為通訊傳輸。根據(jù)選型方案完成機(jī)械臂控制系統(tǒng)硬件電路設(shè)計(jì),主要包括STM32F103VCT6控制器電路、CAN通信接口電路、步進(jìn)電機(jī)驅(qū)動(dòng)電路、舵機(jī)控制電路等,在Altium Designer中完成硬件電路原理圖以及PCB圖的繪制。完成機(jī)械臂控制系統(tǒng)程序設(shè)計(jì),主要包括上位機(jī)操作界面程序、CAN總線通訊程序、關(guān)節(jié)電機(jī)控制程序等,在KeiluVision中完成相關(guān)程序的編寫,在Visual Studio中完成上位機(jī)操作界面的制作。為實(shí)現(xiàn)機(jī)械臂精準(zhǔn)控制,對(duì)機(jī)械臂運(yùn)動(dòng)軌跡規(guī)劃部分進(jìn)行研究,得出關(guān)節(jié)角度與末端執(zhí)行器位姿的關(guān)系。經(jīng)聯(lián)合調(diào)試,設(shè)計(jì)的機(jī)器人控制系統(tǒng)滿足要求。該款機(jī)器人能有效的解決直線式分配器感應(yīng)焊接設(shè)備進(jìn)行焊接操作時(shí),需要人工操作的不足,將手工操作變成自動(dòng)化機(jī)械操作。
[Abstract]:In order to realize automatic transformation of continuous production line of light small parts, enterprises greatly increase the demand for light load and low cost robots. Aiming at the induction welding equipment of linear distributor, a small model and low cost robot can be developed to realize automatic disassembly and assembly of welding parts, which can save manufacturing cost and improve production efficiency. It has good practical significance. In this paper, a small robot control system is designed, in which stepping motor and steering gear are selected as joint motor of mechanical arm, STM32F103VCT6 is used as core control chip, and CAN bus is used as communication transmission. According to the selection scheme, the hardware circuit design of the manipulator control system is completed, including the STM32F103VCT6 controller circuit, the can communication interface circuit, the stepping motor driving circuit, the steering gear control circuit and so on. The schematic diagram of hardware circuit and the drawing of PCB diagram are completed in Altium Designer. The program design of the manipulator control system is completed, including the upper computer operation interface program, the joint motor control program and so on. The related program is compiled in KeiluVision, and the upper computer operation interface is made in Visual Studio. In order to realize the precise control of the manipulator, the kinematic trajectory planning part of the manipulator is studied, and the relationship between the joint angle and the position and pose of the end actuator is obtained. After joint debugging, the robot control system is designed to meet the requirements. The robot can effectively solve the linear distributor induction welding equipment welding operation, the need for manual operation, manual operation into automatic mechanical operation.
【學(xué)位授予單位】：西安工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TG409;TP242

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