多自由度机械手设计【8张CAD图纸和说明书】

摘要随着现代科学技术的发展，机器人技术越来越受到广泛关注，在工业生产日益现代化的今天，机器人的使用变得越来越普及。因此，对于机器人技术的研究也变得越来越迫切，尤其是工业机器人方面。本论文作者针对这一领域，设计了一款液压机械机械手，该机器人拥有五个自由度。首先，作者针对该机器人的设计要求，对结构设计选择了一个最优方案，对关键零件设计并进行校核。本课题是一个机械、液压紧密的实用性项目，文中对机械手机械结构的设计、液压系统的设计讨。最后，总结了全文，指出了机械手的改进措施、应用前景和发展方向。关键字：机械手，液压系统，五个自由度AbstractWith the development of modern science and technology, the robot technology has been paid more and more attention, in an increasingly modernized industrial production, the use of robots is becoming more and more popular. Therefore, the research of robot technology becomes more and more urgent, especially industrial robots. The author of this thesis in this field, design of a hydraulic mechanical manipulator, the robot has five degrees of freedom. First of all, the author according to the requirement of the design of this robot, an optimal scheme of the structure design of the selection, the design of key parts and checked.This topic is a mechanical, hydraulic close practical project, design of mechanical design, mechanical structure of the hydraulic system of the mobile phone in. Finally, summarized the full text, points out the improvement measures, manipulator application prospect and development direction.Keywords: manipulator, hydraulic system, five degrees of freedom目录摘要IAbstractII第1章绪论11.1 选题背景及其意义11.2 国内外研究现状与发展趋势11.3 本设计主要研究的内容3第2章机械手的总体设计42.1 机械手的组成及各部分关系概述42.2 机械手的设计分析42.2.1 设计要求42.2.2 总体设计任务分析42.2.3 总体方案拟定6第3章机械手结构的设计分析83.1 末端操作器的设计分析83.2 手腕的设计分析83.3 手臂的设计分析83.4 机身和机座的设计分析9第4章机械手各部件的载荷计算114.1 设计要求分析114.2 手指夹紧机构的设计114.3 手臂伸缩机构载荷的计算124.4 手臂俯仰机构载荷的计算134.5 机身摆动机构载荷力矩的计算134.6 初选系统工作压力14第5章机械手各部件结构尺寸计算及校核165.1 手腕油缸尺寸的确定165.2 手臂伸缩机构结构尺寸的确定195.3 手臂俯仰机构结构尺寸的确定195.4 机身摆动机构的确定195.5 强度校核195.6 弯曲稳定性校核20第6章液压系统的设计226.1 制定基本方案226.1.1 基本回路的选择226.2 液压元件的选择226.2.1 液压泵的选择226.2.2 液压泵所需电机功率的确定246.2.3 液压阀的选择246.2.4 液压辅助元件的选择原则256.2.5 油箱容量的确定266.2.6 液压原理图27结论29参考文献30第1章绪论1.1 选题背景及其意义随着工业自动化程度的提高，工业现场的很多易燃、易爆等高危及重体力劳动场合必将由机器人所代替。这一方面可以减轻工人的劳动强度，另一方面可以大大提高劳动生产率。通过本课题，让学生在毕业设计过程中综合大学所学基础课程及专业课程，培养学生综合应用所学知识和技能去分析和解决一般工程技术问题的能力；进一步培养学生分析问题、创造性地解决实际问题的能力。本课题中多自由度机械手系统主要采用液压驱动。1.2 国内外研究现状与发展趋势（1）国内的研究现状工业机械手最早应用在汽车制造工业，常用于焊接、喷漆、上下料和搬运。工业机械手延伸和扩大了人的手足和大脑功能，它可替代人从事危险、有害、有毒、低温和高温等恶劣环境中工作：代替人完成繁重、单调重复劳动，提高劳动生产率，保证产品质量。目前主要应用与制造业中，特别是电器制造、汽车制造、塑料加工、通用机械制造及金属加工等工业。工业机械手与数控加工中心，自动搬运小车与自动检测系统可组成柔性制造系统和计算机集成制造系统，实现生产自动化。随着生产的发展，功能和性能的不断改善和提高，机械手的应用领域日益扩大。我国工业机械手的研究与开发始于20世纪70年代。1972年我国第一台机械手开发于上海，随之全国各省都开始研制和应用机械手。从第七个五年计划（1986-1990）开始，我国政府将工业机器人的发展列入其中，并且为此项目投入大量的资金，研究开发并且制造了一系列的工业机器人，有由北京机械自动化研究所设计制造的喷涂机器人，广州机床研究所和北京机床研究所合作设计制造的点焊机器人，大连机床研究所设计制造的氩弧焊机器人，沈阳工业大学设计制造的装卸载机器人等等。这些机器人的控制器，都是由中国科学院沈阳自动化研究所和北京科技大学机器人研究所开发的，同时一系列的机器人关键部件也被开发出来，如机器人专用轴承，减震齿轮，直流伺服电机，编码器，DCPWM等等。我国的工业机械手发展主要是逐步扩大其应用范围。在应用专业机械手的同时，相应的发展通用机械手，研制出示教式机械手、计算机控制机械手和组合式机械手等。可以将机械手各运动构件，如伸缩、摆动、升降、横移、俯仰等机构，设计成典型的通用机构，以便根据不同的作业要求，选用不用的典型机构，组装成各种用途的机械手，即便于设计制造，又便于跟换工件，扩大了应用范围。目前国内机械手主要用于机床加工、锻造。热处理等方面，数量、品种、性能方面都不能满足工业生产发展的需要。所以，在国内主要是逐步扩大应用范围，重点发展铸造、热处理方面的机械手，以减轻劳动强度，改善作业条件，在应用专业机械手的同时，相应的发展通用机械手，有条件的要研制示教式机械手、计算机控制机械手和组合机械手等。同时要提高速度，减少冲击，正确定位，以便更好的发挥机械手的作用。此外还应大力研究伺服型、记忆再现型，以及具有触觉、视觉等性能的机械手，并考虑与计算机连用，逐步成为整个机械制造系统中的一个基本单元。

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关键词：: 8张CAD图纸和说明书自由度机械手设计【张CAD图纸自由度机械手设计自由度机械手设计【说明书机械手设计【张CAD图纸】【机械手设计说明书 8张cad图纸 CAD图纸和

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摘要

随着现代科学技术的发展，机器人技术越来越受到广泛关注，在工业生产日益现代化的今天，机器人的使用变得越来越普及。因此，对于机器人技术的研究也变得越来越迫切，尤其是工业机器人方面。本论文作者针对这一领域，设计了一款液压机械机械手，该机器人拥有五个自由度。首先，作者针对该机器人的设计要求，对结构设计选择了一个最优方案，对关键零件设计并进行校核。

本课题是一个机械、液压紧密的实用性项目，文中对机械手机械结构的设计、液压系统的设计讨。最后，总结了全文，指出了机械手的改进措施、应用前景和发展方向。

关键字：机械手，液压系统，五个自由度

Abstract

With the development of modern science and technology, the robot technology has been paid more and more attention, in an increasingly modernized industrial production, the use of robots is becoming more and more popular. Therefore, the research of robot technology becomes more and more urgent, especially industrial robots. The author of this thesis in this field, design of a hydraulic mechanical manipulator, the robot has five degrees of freedom. First of all, the author according to the requirement of the design of this robot, an optimal scheme of the structure design of the selection, the design of key parts and checked.

This topic is a mechanical, hydraulic close practical project, design of mechanical design, mechanical structure of the hydraulic system of the mobile phone in. Finally, summarized the full text, points out the improvement measures, manipulator application prospect and development direction.

Keywords: manipulator, hydraulic system, five degrees of freedom

摘要 I

Abstract II

第1章绪论 1

1.1 选题背景及其意义 1

1.2 国内外研究现状与发展趋势 1

1.3 本设计主要研究的内容 3

第2章机械手的总体设计 4

2.1 机械手的组成及各部分关系概述 4

2.2 机械手的设计分析 4

2.2.1 设计要求 4

2.2.2 总体设计任务分析 4

2.2.3 总体方案拟定 6

第3章机械手结构的设计分析 8

3.1 末端操作器的设计分析 8

3.2 手腕的设计分析 8

3.3 手臂的设计分析 8

3.4 机身和机座的设计分析 9

第4章机械手各部件的载荷计算 11

4.1 设计要求分析 11

4.2 手指夹紧机构的设计 11

4.3 手臂伸缩机构载荷的计算 12

4.4 手臂俯仰机构载荷的计算 13

4.5 机身摆动机构载荷力矩的计算 13

4.6 初选系统工作压力 14

第5章机械手各部件结构尺寸计算及校核 16

5.1 手腕油缸尺寸的确定 16

5.2 手臂伸缩机构结构尺寸的确定 19

5.3 手臂俯仰机构结构尺寸的确定 19

5.4 机身摆动机构的确定 19

5.5 强度校核 19

5.6 弯曲稳定性校核 20

第6章液压系统的设计 22

6.1 制定基本方案 22

6.1.1 基本回路的选择 22

6.2 液压元件的选择 22

6.2.1 液压泵的选择 22

6.2.2 液压泵所需电机功率的确定 24

6.2.3 液压阀的选择 24

6.2.4 液压辅助元件的选择原则 25

6.2.5 油箱容量的确定 26

6.2.6 液压原理图 27

结论 29

参考文献 30

第1章绪论

1.1 选题背景及其意义

随着工业自动化程度的提高，工业现场的很多易燃、易爆等高危及重体力劳动场合必将由机器人所代替。这一方面可以减轻工人的劳动强度，另一方面可以大大提高劳动生产率。

通过本课题，让学生在毕业设计过程中综合大学所学基础课程及专业课程，培养学生综合应用所学知识和技能去分析和解决一般工程技术问题的能力；进一步培养学生分析问题、创造性地解决实际问题的能力。

本课题中多自由度机械手系统主要采用液压驱动。

1.2 国内外研究现状与发展趋势

（1）国内的研究现状

工业机械手最早应用在汽车制造工业，常用于焊接、喷漆、上下料和搬运。工业机械手延伸和扩大了人的手足和大脑功能，它可替代人从事危险、有害、有毒、低温和高温等恶劣环境中工作：代替人完成繁重、单调重复劳动，提高劳动生产率，保证产品质量。目前主要应用与制造业中，特别是电器制造、汽车制造、塑料加工、通用机械制造及金属加工等工业。工业机械手与数控加工中心，自动搬运小车与自动检测系统可组成柔性制造系统和计算机集成制造系统，实现生产自动化。随着生产的发展，功能和性能的不断改善和提高，机械手的应用领域日益扩大。

我国工业机械手的研究与开发始于20世纪70年代。1972年我国第一台机械手开发于上海，随之全国各省都开始研制和应用机械手。从第七个五年计划（1986-1990）开始，我国政府将工业机器人的发展列入其中，并且为此项目投入大量的资金，研究开发并且制造了一系列的工业机器人，有由北京机械自动化研究所设计制造的喷涂机器人，广州机床研究所和北京机床研究所合作设计制造的点焊机器人，大连机床研究所设计制造的氩弧焊机器人，沈阳工业大学设计制造的装卸载机器人等等。这些机器人的控制器，都是由中国科学院沈阳自动化研究所和北京科技大学机器人研究所开发的，同时一系列的机器人关键部件也被开发出来，如机器人专用轴承，减震齿轮，直流伺服电机，编码器，DC——PWM等等。

我国的工业机械手发展主要是逐步扩大其应用范围。在应用专业机械手的同时，相应的发展通用机械手，研制出示教式机械手、计算机控制机械手和组合式机械手等。可以将机械手各运动构件，如伸缩、摆动、升降、横移、俯仰等机构，设计成典型的通用机构，以便根据不同的作业要求，选用不用的典型机构，组装成各种用途的机械手，即便于设计制造，又便于跟换工件，扩大了应用范围。目前国内机械手主要用于机床加工、锻造。热处理等方面，数量、品种、性能方面都不能满足工业生产发展的需要。所以，在国内主要是逐步扩大应用范围，重点发展铸造、热处理方面的机械手，以减轻劳动强度，改善作业条件，在应用专业机械手的同时，相应的发展通用机械手，有条件的要研制示教式机械手、计算机控制机械手和组合机械手等。同时要提高速度，减少冲击，正确定位，以便更好的发挥机械手的作用。此外还应大力研究伺服型、记忆再现型，以及具有触觉、视觉等性能的机械手，并考虑与计算机连用，逐步成为整个机械制造系统中的一个基本单元。

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内容简介：: Digital System Control for Three-Degrees of Freedom Mechanical Arm with FPGA Jos e Rafael Guzm an-Sep ulveda1, Ren e de Jes us Romero-Troncoso2 Universidad de Guanajuato Facultad de Ingenier a Mec anica, El ectrica y Electr onica Salamanca, Guanajuato, M exico jrafaelgs1, troncososalamanca.ugto.mx2 Abstract This work has as objective to show the design process and implementation of three-degrees of freedom me- chanicalarm, controlled by a Digital System, described underVHDL,andimplementedintoaFPGA(FieldPro- grammable Gate Array). The Digital System for con- trol is designed through the interconnection of circuits and functional blocks. The FPGA terminals are used to control the sequences of three stepper motors and this way to achieve the movement of the three-degrees of freedom arm, the interface stage among the control and the motors, is developed with a power electronic circuit based on transistors. This design proposal is a didactic model that seeks to illustrate the stages of the design and, mainly, the Digital System for control the movements of the mechanical arm. For this case, the mechanical design of the arm does not depend on a specifi c trajectory, it is a free trajectory and user can decide, trough the FPGA interface, the mechanical arm movement. The mechanicalarm proposal does not have the capacity to exercise big forces, not to lift big weight, but rather it seeks to be an easy construction model and accessible for everyone, since it can be built until with recycled material, just as it was made in this case, for educational purposes. 1. Introduction For modern men, it is practically impossible to conceive their life without the presence of the Digital Electronics because the quantity of electronic applica- tions that appears with the daily life is huge and Dig- ital Electronics applications are so many and so com- mon 1. Sensors, micro-chips and actuators are com- monly found in modern products. Even the automobile industry which is traditionally a Mechanical Engineer- ing domain is putting micro-chips in modern vehicles and mechanical structures 2. Mechatronics, with its multidisciplinaryapproachto design and developof en- gineering solutions, provides an important direction to followingteaching and research. Hence, the teachingof such a multidisciplinary degree has become necessary for successful engineers 3. Universities around the world have responded with the introduction of new de- greesinMechatronicsandElectromechanicalEngineer- ing arises because in the same way that it happens in Digital Electronics and in Electronics in general, there are so many applications where we can fi nd electronic devices involved with mechanical devices, one of those applications is the mechanical structures control 4. In control and construction terms, a mechanical arm of pedagogicandillustrativepurposeshavethesamestruc- ture of the big industrial manipulators, for this reason, it is of great importance to understand the design tech- niques employed for their control. Every Digital System design begins with a group of specifi cations and characteristic that should complete the pattern to develop and it culminates with a logical diagram that can be represented by Booleans functions, which are programmed in the FPGA 5. Actually, the logical designer task is simplifi ed with the use of de- scriptive languages of circuits. Although diverse de- scriptive languages exist, the VHDL (Very high-speed integrated Hardware Description Language) it is the most popular and their use most of the time. The de- scriptive language VHDL has for objective to carry out the realization of the circuit in programmablelogic, this technique is known like Design for the Synthesis 1. The proposed Digital System to control the mechanical arm was done with top-down Hierarchical Design tech- nique. With this technique, the designer has the easi- ness to separate the design stages and to determine sev- eral abstraction levels, being able to treat the systems Electronics, Robotics and Automotive Mechanics Conference 2008 978-0-7695-3320-9/08 $25.00 2008 IEEE DOI 10.1109/CERMA.2008.74 496 like black boxes to develop them in a parallel way. This project was divided fundamentally in three main parts: the mechanical part of the arm, the power electronic in- terface circuit and the FPGA stage. It is very important to say that the proposed Digital System for the stepper- motors control was not made thinking about a specifi c trajectory. In this project, the Digital System, as in the same way that the mechanical design, does not depend onanymovementtrajectory. It is proposedanFPGA in- terface so the movement trajectory is determined from user. Figure 1 shows the main parts this project was divided: Figure 1. Design Process Stages 2. Development 2.1. Mechanical Stage Mechanical stage focus to the construction of the mechanical arm structure, for this, a great variety of el- ements were used, such as aluminum links, gears, pul- leys, bands, stepper motors, axes, guides and some ele- ments of utility that were obtained from electronic de- vices in disuse. This stage of the project was very in- teresting because the mechanical unions among gears, bands, pulleys, they were own production, and all me- chanicaldevices werepositionedin a precise way to ob- tain the wanted movement. Figure 2 shows how the me- chanical arm was built: Figure 2. Three-Degrees of Freedom Mechani- cal Arm Structure Figure 2 shows how the arm was built to achieve the three-degreesof freedommovement: in the inferiorpart of the image the fi rst motor is appreciated that allows the movement of the whole base where it is the arm; in the left superior part of the image the motor that helps to carry out the movement of the second-degree of freedom that corresponds to the movement of the fi rst link, with its respective mechanical joining that al- lows the wanted movement leave; fi nally, Figure 2 also shows the stepper motor that was positioned to carry out the movement of the third-and-last-degree of free- dom, with the appropriate joining this movement it is refl ected in the second link of the mechanism. The me- chanical arm structure has been built in a free way, for this project it is not necessary to take a synthesis pro- cedure to determine the structure dimensions, like the links length, based on a specifi c precision points trajec- tory. The structure dimensions were selected arbitrary and the mechanical arm structure was not built think- ing about a specifi c movement trajectory. Figure 2 does not show the mechanical arm actuator because for the present case the actuator can be a pincer, an imam, a supporting, an electromagnet, a pencil, it can be practi- cally anything, the mechanical arm actuator is the user decision. 2.2. Electronical Stage Electronical stage is mainly the used power elec- tronic interface to connect the FPGA and the stepper motors mounted in the mechanical arm structure. The FPGA contains a very extensive logical package for the present application but its terminals can not be directly connected to the stepper motors phases because the de- manded current for the motors is much bigger that the one that would support the FPGA. To solve this, it is necessary to implement a denomi- nated “interface circuit”, which allows to interpret the FPGA outputs and to take the corresponding actions in the motors giving the necessary and enough power, at the same time the FPGA is protected. For this, optic insulators were used to eliminate the physical contact between the FPGA outputs and stepper motors inputs. Figure 3 shows schematic diagram of the implemented circuit: The power electronic interface circuit shown at Figure 3 is just for one stepper motor phase, it is necessary to implement twelve times this same power electronic interface circuit because every stepper motor has four phases and this project uses three stepper motors for its movement. Some times FPGA outputs have a very low voltage level, that is why another option for interface electronic circuit is to put a buffer between FPGA and Optic-Insulator, but for the present project it is not nec- 497 Figure 3. Power Electronic Interface Circuit essary. Optic-Insulator output has the same state that thecorrespondingsteppermotorphase(activatedordis- abled), but it is isolated from the FPGA and has a volt- age level a little higher than its input. The optic insu- lators output cannot provide the demanded current for the stepper motors and that is why a power stage is ad- visable. Darlington confi guration transistors, with high output gain, were used in this power stage. Finally, in- terface circuit also has available the connectors for the corresponding stepper motor phase terminals: stepper motor common terminal is connected to feeding volt- age (Vcc) and the correspondingstepper motor phase is connected to Darlington confi guration transistor collec- tor. Figure 4 shows the complete implementedinterface electronic circuit and its connection to FPGA: Figure 4.Power electronic interface circuit connected to FPGA There are many different ways to implement the power electronic interface circuit because there are a great va- riety of power electronic devices that can be used, this is just a standard power electronic interface circuit and user can decide which ones electronic devices is going to use to implement it. 2.3. FPGA Stage The FPGA stage consists on a Digital System described under VHDL that is able to control the movements of the mechanical arm. This design offers the option of activating the sense and the movement qualifi cation: the user selects the motor that wants to activate, the sense in which wants that it moves and fi nally it activates the beginning of the movement. The programmable logic can be used as a way of per- sonalizing the logical designs, that is to say, to design thinking about the own hardware. The fi rst PLDs was programmed by mask and they were developed by makers of computers, at the beginning of the 60s the programmable logic arrived for fusible and from then on this technique was available so much for small as for big users 6. To describe in a simpler way the Digital System for control the mechanical arm movement diverse functional blocks they were used that allowed to be carried out the necessary functions. With foundation in Hierarchical Design, the Digital System was built with the following functional blocks: the Time-Base, the Stepper Motor Finite States Machine and the Control Finite States Machine. Figure 5. Digital System functional blocks Figure 5 shows the Digital System functional blocks and gives an idea about the interconnection between them, including the user options for selecting some mechanical arm movement. Time-Base functional block is like an oscillator, it does not receive any value or command from user but it sends a predetermined and constant period pulse to the Control Finite States Machine, for this case, the period is 1ms; the relatively low frequency pulse generated in Time-Base functional block is used to process the corresponding stepper motors phases through the power electronic interface circuit and, at the same time, it allows the stepper motors to interpret the present phases states and to react when there is a change in the movement sequence; specifi cally, the Time-Base functionalblockcan be designedlike a constantmodule counter, and the count module is determined by the user, this way, the Time-Base pulse period can take so 498 many values, but once given it does not change; it is necessary the Time-Base pulse allows a good operation to the power electronic interface circuit devices. Stepper motor Finite State Machine receives from user the stepper motor turn sense (CW or CCW) and the step type (Half-Step or Full-Step) values, also user begins the selected stepper motor movement with the qualifi cation signal. As it can be seen, user activates the corresponding stepper-motor turn sense signal, the step type signal and selects the stepper-motor he wants to move, so the mechanical arm structure can take many and so different movement trajectories. This is the reason why the mechanical arm movement does not depend on a specifi c movement trajectory, because user can decide, and in fact determines, the mechanical arm movement trajectory. Stepper Motor FSM sends to Control FSM the corresponding stepper motor phases states with the movement characteristics selected from user; Stepper Motor FSM contains the appropriate stepper motor phases sequences for generate both senses movements, also the half-step and full-step movements. Figure 6. Stepper Motor Finite States Machine Figure 6 shows Stepper Motor FSM states and its characteristics. Qualifi cation signal, Turn-Sense signal and Step-Type signal are input signals and their values are defi ned directly from user.The stepper motor phases can polarize in two different ways: the fi rst one with just one polarized phase, and the second one with two polarized phases. In Summary, the Stepper Motor FSM considers four states with just one polarized phase and another four states with two polarized phases, this way, Half-Step and Full-Step movements can be generated.There is not any state with three or four polarized phases because it is not a stepper motor movement for interest.Figure 6 shows the possible movement sequences too: CW and Full-Step, CW and Half-Step, CCW and Full-Step, and fi nally, CCW and Half-Step.The Stepper Motor FSM in Figure 6 presents a reference State that the FSM takes when the Reset signal (RST) is activated. Reset and FPGA-clock signals are the highest hierarchy signals because RST signal restarts all digital system and CLK signal makes this design a synchronous digital system determining the digital system operation speed, but another high hierarchy signal is the qualifi cation signal, with qualifi cation signal user allows or impedes the selected stepper motor movement, this way, when qualifi cation signal is disabled the stepper motor does not move.Turn-sense and step-type signals do not have a high hierarchy but they are important because they determine the movement characteristics. For the present project it is necessary to consider the Half-Step movement because it is more precise movement than Full-Step movement, this way, the proposed Control Digital System offers two precision levels for stepper motor movement, and consequently, the possibility of a better mechanical arm positioning. Control Finite State Machine receives the Time-Base pulse, the corresponding stepper motor phases states depending of the movement characteristics selected from user and the stepper motor selection signal; Time- Base pulse and stepper motor phases states come from internal functional blocks but the stepper motor selec- tionsignal comesfromuser; ControlFSM interpretsthe stepper motor phases states depending of the stepper motor movement characteristics selected in Stepper Motor FSM, user selects the stepper motor that wishes to move and the Control FSM assigns the phases states to the corresponding stepper motor.This process is carried out in the following way: Control FSM receives the stepper motor phases states at FPGA-clock speed, it is to say, every FPGA-clock pulse the Control FSM updates the information corresponding to the stepper motor phases states and the movement qualifi cation, this way, any movement sequence change produces the pertinent actions almost immediately and the FPGA outputs states refl ect the effect of such a change almost immediatelytoo; the Time-Base functionalblockworks as a constant module counter and sends to Control FSM a constant period pulse determined by the designer; 499 Control FSM sends to FPGA outputs the corresponding stepper motor phases states to the selected stepper motor, but not at FPGA-clock speed, it send that values at Time-Base pulse speed. All Digital System proposed functional blocks are totally synchronized with the FPGA-clock but it is necessary to reduce its frequency andto carryoutthe correspondingsteppermotorphases states with an appropriate speed. 3. Results The results of each one of the stages in that the de- sign was divided are the following ones: the structure of the mechanical arm was built mounting the motors in appropriate positions to generate a free movement in each one of the three-degrees of freedom; an inter- face circuit was designed, based on power transistors, to connect the FPGA with the stepper motors; fi nally, a Digital System was designed that generates the neces- sary and appropriate signals to control the mechanical arm movement. As mentioned, both the mechanical arm structure and the Digital System forcontrolthe stepper-motorsmove- ment were not made thinking about a specifi c move- ment trajectory, but it is proposed an FPGA interface to take the corresponding values about turn sense, step type and the selected stepper-motor from user. In the next four pictures, it can be seen the results of the Control Digital System simulation procedure. It is important to say that the pictures show all the possi- ble kind of movements, CW and Full-Step, CCW and Full-Step, CW and Half-Step, CCW and Half-Step, and fi nally, an additional “hold on” state, but only for one stepper-motor. The simulation results that fi gures 7, 8, 9 and 10 show will be only the movementoptions of the selected stepper-motor. To obtain a correct simulation they were defi ned some controlsignals. Thesesignalsareakindoffl agsthatcan give some information about the stepper-motor move- ment conditions: Reset signal (RST) has the capacity to restart the complete Digital System, it is activated in the beginning of the simulation, for a short time, and then it keeps disabled the rest of the simulation; Clock signal (CLK) is exactly the FPGA clock signal, it has a standard 50MHz frequency; Turn sense signal (C) selects the CW or CCW turn sense, if it is disabled the def

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