機器人靈巧手結(jié)構(gòu)設計及手指控制系統(tǒng)的研制.pdf

1、分類號密級UDC編號碩士學位論文機器人靈巧手結(jié)構(gòu)設計及手指控制系統(tǒng)的研制學位申請人：王凱指導教師：趙書尚副教授郭冰菁副教授學科專業(yè)：業(yè)：機械電子工程學位類別：工學2011年05月摘要Subject:ThestructuraldesignofrobotdexteroushfingercontrolsystemdevelopmentSpecialty:MechatronicsEngineeringName:WangKaiSupervis:Z

2、haoShushangAssociateProfessGuoBingjingAssociateProfessABSTRACTWiththeprogressofsciencetechnologydevelopmentrobottechnologiesaremememature.Atthesametimebecauseitsapplicationinthefieldisexpedtheactuatsfrobotshavehigherdemp

3、reviousspecialrobotendactuatshavealreadynotsatisfiedbythecomplexchangefulenvironment.Therefeastrongcommonalityhighflexibilityrobothbecomesanurgentneedofsociety.Itisapplicabletoallkindsofcomplicatedenvironmentsuitabletodi

4、fferentobjects.BasedontheprincipleofbiuniquethedepthanalysisofthestructureofhusingmechatronictechnologyrobotdexterousfingerisdesignedwhichisstartingfromthehumanfingeruseofSolidwkssoftware.Thedexterousfingerdesignincludes

5、thedesignimplementationofmechanicalstructuretransmissiondrivesystempneumaticcircuitcontrolsystem.Italsoincludessenssystemhardwaredesignfingerkinematicsdynamicsanalysis.Themovementtrajectyshotfingertipsisdrawbyprogramming

6、inMATLABmodelingfdynamicanalysisisimplementedbySimulink.Sothejointpositionvelocityaccelerationcurvesofthefingersaredrawnout.Basedonthedesignverificationofsinglefingertheoverallstructureofdexterousrobothisfurtherimplement

7、ed.UsingAltiumDesigner6.9circuitdesignsoftwarethemaincontrolcircuitsensamplifiercircuitPWMdrivercircuitarecompletedtheweldingdebuggingofeachmoduleareimplemented.Indertoachieveasinglefingerjointcontrolafteringtheappropria

8、tecontrolstrategycontrolprogramsarewrittenintheDSPCCS3.3developmentenvironment.Themechanicalpartsofthefingerstransmissiondrivesubsystemthepneumaticsystemhardwaresoftwaredebuggingarerealized.Bytheentiresinglefingercontrol