本文選題：脈寬調(diào)制控制 + 機(jī)械手��； 參考：《探測(cè)與控制學(xué)報(bào)》2017年02期

【摘要】：針對(duì)機(jī)器手的每個(gè)關(guān)節(jié)需要進(jìn)行位置和速度的控制,而伺服電機(jī)、步進(jìn)電機(jī)等控制存在成本高,控制精度不夠等問(wèn)題,提出了基于STM32的小型機(jī)械手的設(shè)計(jì)與控制方法。相對(duì)于電機(jī)控制來(lái)說(shuō),基于脈寬調(diào)制技術(shù)控制的舵機(jī)機(jī)械手臂有其控制簡(jiǎn)單、靈活和動(dòng)態(tài)響應(yīng)好、價(jià)格便宜等優(yōu)點(diǎn)。設(shè)計(jì)了機(jī)械手臂的整體結(jié)構(gòu),分析了碼垛機(jī)械手的脈寬調(diào)制驅(qū)動(dòng)方法,并在結(jié)構(gòu)設(shè)計(jì)的基礎(chǔ)上進(jìn)行了運(yùn)動(dòng)學(xué)分析,得出了機(jī)械手的末端位姿。對(duì)機(jī)械手抓取目標(biāo)物的控制系統(tǒng)進(jìn)行了設(shè)計(jì)、編程及仿真實(shí)驗(yàn),采用實(shí)體建模軟件Solidworks建立小型碼垛機(jī)械手臂虛擬樣機(jī)模型�；谠撃Ｐ�,設(shè)計(jì)了抗環(huán)境噪聲與電路自身噪聲問(wèn)題的電路,進(jìn)行多次搬運(yùn)實(shí)驗(yàn)。實(shí)驗(yàn)證明,該方法可以實(shí)現(xiàn)機(jī)械手對(duì)物體的準(zhǔn)確抓取、運(yùn)送等工作,有效地避免了電機(jī)定位不準(zhǔn)、價(jià)格昂貴的情形,使得控制更為簡(jiǎn)單靈活。
[Abstract]:Aiming at the need to control the position and speed of each joint of the robot hand, the design and control method of the small manipulator based on STM32 is put forward, which has the problems of high cost and insufficient control precision of servo motor, step motor and so on. Compared with motor control, the manipulator based on pulse width modulation has the advantages of simple control, good dynamic response and low price. The whole structure of the manipulator is designed, the pulse width modulation driving method of the palletizing manipulator is analyzed, the kinematics analysis is carried out on the basis of the structural design, and the terminal position and pose of the manipulator are obtained. The control system of grab object by manipulator is designed, programmed and simulated. The virtual prototype model of small palletizing arm is established by using entity modeling software Solidworks. Based on the model, the circuit to resist the environmental noise and the circuit itself noise is designed. The experiments show that the method can realize the accurate grasping and transporting of the object by the manipulator, effectively avoid the situation that the motor is located incorrectly and the price is expensive, so the control is simpler and more flexible.
【作者單位】： 北京理工大學(xué)機(jī)電動(dòng)態(tài)控制重點(diǎn)實(shí)驗(yàn)室;北京理工大學(xué)機(jī)電學(xué)院;
【分類號(hào)】：TP241
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本文編號(hào)：1787484