关 键 词：

含CAD图纸 模块 自由度 机器人 控制系统 设计 CAD 图纸

资源描述：

喜欢就充值下载吧。。。资源目录里展示的全都有，，下载后全都有,,请放心下载，原稿可自行编辑修改【QQ：1304139763 可咨询交流】===================== 喜欢就充值下载吧。。。资源目录里展示的全都有，，下载后全都有,,请放心下载，原稿可自行编辑修改【QQ：414951605 可咨询交流】=====================

内容简介：

山西工程技术学院毕业设计说明书毕业生姓名：梁兴专业：机械电子工程学号：180533006指导教师：张海所属系（部）：机械电子工程系二二年五月模块式六自由度机器人控制系统设计摘 要近二十年来，机器人技术的发展非常迅速，各种用途机器人在各个领域获得广泛应用。我国在机器人的应用和研究方面与工业化发达国家相比还有一定差距，因此设计和研究各种用途的机器人特别是推广机器人、工业机器人的应用是有现实的意义。典型的工业机器人例如喷装配机器人、漆机器人、焊接机器人等大多是固定在加工设备旁边或生产线作业的，本论文在参考大量的文献资料的基础上，结合了项目的要求，设计一种小型的、固定在AGV上的、以实现移动的串联六自由度机器人。首先，针对机器人设计要求提出了多个方案，并且对其进行分析和比较，选择其中最优的结构设计方案;然后进行运动学分析，用D一H方法来建立坐标变换矩阵，推算出运动方程的正解和逆解;用矢量积法推导速度雅可比矩阵，并计算包括腕点在内的一些点的速度和位移;然后借助坐标的变换矩阵进行工作空间的分析。这些工作为移动式机器人的运动控制、结构设计和动力学分析提供了依据。最后运用已有的六自由度机械手及其手爪的三维造型和装配，将模型导入proteus中，并进行运动学仿真对其结果进行了分析，并且对在机械设计中使用的虚拟样机技术做了尝试，积累了经验。关键词:6自由度机器人；运动学分析；仿真；步进电动机；单片机；Control system design of modular 6-DOF robotAbstractIn the Past twenty years，the robot technology has been developed greatly and used in many different fields. There is a large gap between our country and the developed countries in research and application of the robot technology so that there will be a great value to study，design and applied different kinds of robots，especially industrial robots.Most typical industrial robots such as welding robot，painting robot and assembly robot are all fixed on the product line or near the machining equipment when they are working. Based on larger number of relative literatures and combined with the need of project，the author have designed a kind of small一size serial robot with 6 degree of freedom which can be fixed on the AGV to construct a mobile robot.First of all，several kinds of schemes were proposed according to the design demand. The best scheme was chosen after analysis and comparing and the structure was designed. At same time，The kinematics analysis was conducted，coordinate transformation matrix using D一H method was set up，and the kinematics equation direct solution and inverse solution was deduced，the matrix was constructed using vector product method，and the values displacement and velocity of some special point including the wrist point were calculated. Secondly，the working space of the robot was analyzed and the axes section of practical working space was drawn. These works provided a basis to structure design, kinematics and control.At last do the completion of six degrees of freedom manipulators and grippers three-dimensional modeling and assembly. models will be imported in proteus, and do the simulation and kinematics, and the simulation result was analyzed. In the experiment，the author tried to use the virtual prototyping technology in mechanism design.Key words: Six degrees of freedom robot;Kinematics Analysis; simulation;目 录摘 要I1 绪论11.1 机器人概述11.2 模块式六自由度机器人概述11.3 主要研究内容32运动学分析42.1 概述42.2 运动学分析42.2.1 空间机构位置的描述42.2.2 空间机构中两任意坐标系的变换关系92.2.3 工业机器人运动学方程112.3 机构的运动学分析112.3.1 机构尺寸参数112.3.2 机构的运动学方程133 模块式六自由度机器人控制系统硬件设计153.1 总体控制方案设计153.2 步进电机选取及控制设计153.2.1 步进电机原理及控制技术153.2.2 步进电机的换向控制173.2.3 步进电机的选取193.3 ULN2003驱动器203.4 单片机的概述233.5 89C51系列控制单片机设计与选择243.5.1 AT89C51简介273.5.2 AT89C51最小系统313.5.3 AT89C51系统设计324 模块式六自由度机器人控制系统仿真设计354.1 仿真软件概述354.1.1 protues简介354.1.2 Keil C51简介354.2 仿真系统设计354.2.1 仿真系统组成354.2.2 仿真系统程序设计354.3 运行调试结果36总 结37参考文献38附录40致 谢645山西工程技术学院毕业设计说明书1 绪论1.1 机器人概述机器人是种能够进行编程，并在自动控制下执行移动作业任务或某种操作的机械装置。机器人技术综合了电子工程、机械工程、人工智能、及计算机技术等多种科学的最新研究成果，是典型的机电一体化技术代表，是在当代科技发展最活跃领域。机器人的制造研究与应用正受到越来越多的工业国家的重视。近十几年来，工业机器人技术发展非常迅速，各种工业机器人的在各个领域各种用途中获得广泛应用。1.2 模块式六自由度机器人概述1.2.1 机器人分类关于机器人如何分类，在国际上没有制定统一标准，有的按控制方式分，有的按负载重量分，有的按应用领域分，有的按结构分，有的按自由度分。一般的分类方式：多功能，有几个自由度，操作型机器人，能自动控制，可固定或运动，可重复编程，用于相关自动化系统之中。程控型机器人，按预先要求的条件及顺序，依次控制工业机器人的机械动作。“示教再现型”机器人，可以通过引导或者其它方式，首先教会机器人执行动作，输入工作程序，则机器人可自动重复进行作业。感觉控制型机器人，通过传感器获取的信息来控制机器人的动作。数控型的机器人，不必使机器人动作，通过语言、数值等对机器人进行示教，根据机器人示教后的信息进行工作。适应控制型机器人，机器人能适应变化中环境，控制自身的行动。学习控制型机器人，具有一定的学习功能，机器人能“体会”工作的经验，并将所“学”的经验用于作业中。智能型机器人，以人工智能决定其机器人的行动。1.2.2 自由度理论概述自由度的概念:工业机器人的空间机构一般都为多关节，其运动副通常有转动副和移动副两种。移动关节是以移动副相连的关节。相应地，转动关节是以转动副相连的关节。在这些关节之中，单独驱动的关节被称为主动关节。主动关节的数目就是机器人的自由度。由机械原理可知，机构具有运动确定时必须所给定的独立运动参数数目，称为机构的自由度（degree of freedom of mechanism），其数目通常表示为F。如果一个构件组合体自由度F0，他就可以称为一个机构，也就是表明各构件间可有相对的运动；如果F=0，则表明它是一个结构（structure），即已退化成为一个构件。机构自由度分为平面的机构自由度和空间的机构自由度。一个原动件只能提供一个独立的参数。1.2.3 模块式六自由度机器人的应用六自由度机器人是一种典型工业机器人，在装配、自动搬运、喷涂、焊接、等工业现场中有广泛应用。固高科技GRB系列的六自由度机器人是固高先进的设计与成熟完备的运动控制技术和教学理念有机结合的产物,它既满足工业现场的要求，也是教学与科研机构进行编程系统设计和运动规划的理想对象。该机器人采用六关节的串联结构，各个关节以“精密谐波减速器+绝对编码器电机”为传动。在小臂处留有气动工具、安装摄像头等外部设备的接口，并且提供备用的电气接口，方便用户进行功能的扩展。机器人控制方面，采用集成的PC技术、逻辑控制、图像技术及具有专业运动控制技术的VME运动控制器，高速高精度，性能可靠稳定。工业机器人广泛应用于工业领域。工业机器人一般是指在工厂车间的环境中，配合自动化生产需要，代替人来完成零件或材料的加工、装配、搬运等操作的一种工业机器人。工业机器人定义为:“一种可重复编程的、自动定位控制、多自由度、多功能的操作机。能搬运零件、材料或操持工具，用以完成各种作业。”操作机被定义为:“具有与人的手臂有相似的动作功能，可以在空间抓放物体或者进行其它操作的机械装置。”一个典型的机器人系统由通讯接口、本体、计算机控制系统、传感系统、关节伺服驱动系统等部分组成。一般多自由度的串联机器人具有46个的自由度，其中23个自由度用来决定末端执行器在空间的位置，其余的23个自由度用来决定了末端执行器在空间的姿态。1.3 主要研究内容通过查阅了大量的文献资料，并且系统学习了机器人的技术知识，同时对国内外的机器人，主要是对六自由度机器人的现状有了比较详细了解。在这个基础上，结合了作者本人设想，和设计工作中需要解决的问题，主要进行以下几项工作: (1) 调研收集分析有关六自由度机器人的资料，总结其机构与工作特点；(2) 找到合适六自由度机器人的机构方案；(3) 模块式六自由度机器人控制系统设计；(4) 六自由度机器人运动学分析与仿真；(5) 利用动力学分析软件proteus对六自由度机器人模型进行运动学仿真，对在设计中使用虚拟样机技术进行探索和尝试。2运动学分析2.1 概述多自由度机器人其实是具有多个关节空间机构，为了描述在空间中末端执行器的姿态和位置，可以建立一个坐标系在每个关节上，利用坐标系之间的关系去描述末端执行器的位姿。建立坐标系的方法有很多种，常用的有D一H法(四参数法)和矩阵变换法及五参数法等。D一H法(四参数法)是由Denavit和Hartenberg1955年提出的一种建立相对的位姿的矩阵方法。它用齐次变换来描述各个连杆相对于固定的参考系空间几何关系，用一个4x4齐次变换矩阵来描述相临两连杆的空间关系，从而推导出了“基坐标系”相对于“末端执行器坐标系”的等价齐次坐标变换矩阵，它把一个矢量从一个坐标系中转换到另一个坐标系中，每一个矩阵可以同时实现以下两个作用：平移和旋转。建立操作臂运动方程。本文中用的D一H法来建立坐标系并且推导该机器人的运动方程。2.2 运动学分析2.2.1 空间机构位置的描述1.点的位置描述空间任一点P的位置在直角坐标系A中可用（31）的位置矢量Ap来表示如图2-1为:图2-1 点的位置描述 点P的三个位置坐标分量分别是Px、Py、Pz。2.点的齐次坐标上述坐标用（41）列阵表示，被称为三维空间点P的齐次坐标，比如:齐次坐标是并不唯一的，当列阵每一项分别去乘以一个非零因子都表示P点。3.坐标轴方向的描述在直角坐标系中，x,y,z轴的单位向量可用 、 、 表示，则用齐次坐标描述x、y、z轴的方向：规定：以列阵 且a2+b2+c2=1表示某矢量的方向。如列中的第四个元素不为零，则表示空间某点的位置。如图2-2中矢量 的方向可表示为：其中a=cos，b=cos，c=cos。图2-2 坐标轴方向的描述v点坐标为： 4.动坐标系位姿的描述用位姿矩阵对坐标系各轴方向和动坐标系原点位置进行描述，例如原始的直角坐标系可以描述为：如描述一个任意的坐标系R，则利用其三个坐标轴x R 、y R 、z R在原始的坐标系中表示矢量齐次列阵与列阵0 0 0 1T组成。5.刚体位姿的描述机器人的每一个连杆都可以看做一个刚体。当给定刚体上某一点位置与该刚体在空中的姿态，于是刚体在空间上的位姿便是唯一确定的了，可用唯一一个位姿矩阵来描述。如图2-3刚体oxyz是固连于刚体上的一个坐标系，称为动坐标系。刚体Q在固定坐标系OXYZ中位置的齐次坐标形式为：图2-3 刚体的位置和姿态描述 、 、 分别为x,y,z坐标轴的单位向量：刚体的位姿表示为齐次矩阵： 6.手部位姿的描述如图2-4机器人手的位姿可用固连于手的坐标系B的位姿表示图2-4 机器人手部的位置和姿态描述（1）原点：手部中心点为原点OB（2）接近矢量：关节轴方向的单位向量（3）姿态矢量：手指连线方向的矢量（4）法相矢量： 即法向矢量同时垂直于姿态矢量和接近矢量。手部位置矢量为从固定参考坐标系OXYZ原点指向手部坐标系B原点矢量P，手部的位姿矩阵为：7.目标物位姿的描述任何一种物体在空间中的位置和姿态都可以用齐次矩阵表示。图2-5楔块Q的情况可用6个点来描述：使Q 绕z轴旋转90：Rot（z，90） 再绕y轴旋转90：Rot（y，90） 再沿x轴方向平移4：Trans（4，0，0）楔块变为图（b）状态。图2-5 目标物的位置和姿态描述2.2.2 空间机构中两任意坐标系的变换关系刚体的旋转、平移运动均可由齐次变换矩阵来表示，刚体变换后的位姿由其原始描述矩阵乘以齐次变换矩阵而得到。1.平移的齐次变换如图2-6，A点（x，y，z）平移至A（x，y，z） 即： 记为： 其中 称为平移算子。图2-6 点的平移变换2. 旋转的齐次变换如图2-7，A点绕z轴旋转 角后移至A，即图2-7 点的旋转变换推导：设A点在xoy平面上投影的长度为r，与x轴夹角为。则即 z坐标未变，故z=z写成矩阵形式为 记为同理：图2-8中 为任意过原点的单位矢量，其在三个坐标轴上分量为kx，ky，kz，且 。若A点绕 旋转角，则可以证明，其旋转齐次变换矩阵为Rot（k,） 图2-8 点的一般旋转变换2.2.3 工业机器人运动学方程齐次变换矩阵Ai表示可连杆i坐标系相对于连杆坐标系i-1位姿变换矩阵。例如A1表示连杆1相对连杆0（基座），A2矩阵表示连杆1坐标系相对于连杆1坐标系的位姿变换。连杆2相对固定坐标系的位姿可用A2 和A1 的乘积表示T2=A1A2依此类推, 对于六连杆机器人，于是有下列矩阵：T6=A1A2A3A4A5A6，上述等式称为机器人的运动学方程。表示手部坐标相对于固定参考系的位姿。 或前三列表示手部的姿态； 或第四列表示手部中心点的位置。2.3 机构的运动学分析2.3.1 机构尺寸参数机构模型如图2-9、图2-10所示：图2-9 机构模型图2-10 机构模型根据模型尺寸，姿态连杆长度分别为49、50、123。位置的初始值为：设两个移动装置的传动比为；所有传动机构的传动比为。各个电机的转角位。2.3.2 机构的运动学方程 前三个关节确定了末端的主要位置。以初始状态的小臂方向为轴正方向；大臂伸长方向为轴正方向，建立空间坐标系。则初始状态位置方程为：位姿方程为：第四关节的旋转齐次变换矩阵为：第四关节的移动变换矩阵为：第五关节的旋转齐次变换矩阵中设为旋转的环绕单位矢量，、分别为、轴的三个分量。则：，。所以：第六关节的移动矩阵：3 模块式六自由度机器人控制系统硬件设计3.1 总体控制方案设计如前所述，该机器人可用于制造车间的物流系统中工件的装夹、搬运和日常生活中的看护、持物等。要求工作范围大，动作灵活，被夹持物应具有多种多样姿态，自由度为6个，重量轻，结构紧凑。则本设计方案如图3-1所示：图3-1 总体方案3.2 步进电机选取及控制设计 步进电机是一种进行精确的步进运动的机电执行元件，它可广泛应用于工业机械中的数字控制，为使系统的通用性、可维护性、可靠性以及性价比最优，根据控制系统功能的要求及步进电机的应用环境，确定了设计系统的硬件与软件的功能划分，从而实现了基于8051 单片机的四相步进电机的开环控制系统。3.2.1 步进电机原理及控制技术 步进电机是种将电脉冲信号转换成了直线或角位移的执行元件，它是不能直接接到交直流电源上的，而必须使用专业的设备步进电机控制驱动器，典型的步进电机控制系统：控制器可以发出从几赫兹到几千赫兹可以连续变化的脉冲频率脉冲信号，它为环形分配器来提供脉冲序列，环形分配器的功能主要是把来自控制环节的脉冲按一定的规律分配后，经过功率放大器放大加到步进电机的驱动电源各项输入端，用以驱动步进电机的转动，环形的分配器主要有两大类：一类用计算机软件设计的方法实现环形分配器的要求功能，通常称为软环形分配器。另一类则是用硬件构成的环形分配器，通常称为硬环形分配器。功率放大器主要是对环形分配器的较小输出信号进行放大，以达到驱动步进电动机的目的，步进电机基本控制包括速度控制和转向控制两个方面。从结构上来看，步进电机分为三相六拍、三相单三拍和三相双三拍3种，其基本原理如下： （1）换相顺序的控制 通电换相这一过程被称为脉冲分配。例如，三相步进电动机在单三拍工作方式下，其各相通电的顺序为 ABCA，通电控制脉冲必须严格的按照这一顺序，分别控制 A、B、C 相的通断。三相六拍的通电顺序为AABBBCCCAA，三相双三拍通电顺序为 ABBCCAAB。 （2）步进电机的换向控制 如果给定的工作方式正序换相通电，则步进电机正转。若步进电机励磁方式为三相六拍，也就是 AABBBCCCAA。如果是按反序通电换相，则AACCCBBBAA，电机就反转。其他方式的情况类似。 （3）步进电机的速度控制 如果给步进电机发送一个控制脉冲，它就会转一步，再发送一个脉冲，它就会再转一步。两个脉冲间隔越短，步进电机就转动得越快。调整送给步进电动机的脉冲频率，就能够对步进电机进行调试。 （4）步进电机的起停控制 由于步进电机的电气特性，运转时就会有步进感。为了使电动机转动平滑，减小振动，则可在步进电机控制脉冲上升沿和下降沿采用细分梯形波，可以减小步进电机步进角，跳过电动机运行的平稳性。则在步进电机停转时，为防止因惯性而使电机轴来产生顺滑，则需要采用合适的锁定波形，来产生锁定磁力矩和锁定步进电机的转轴，促使步进电机转轴不能自由的转动。 （5）步进电机的加减速控制 通过实验发现，在步进电机控制系统中，如果信号变化的太快，步进电机则由于惯性而跟不上电信号变化，这时就会产生堵转与失步现象。所有的步进电机在启动时，必须具有加速过程，在停止时波形时有减速过程。理想加速曲线一般是指数曲线，步进电机的整个降速过程的频率变化规律是整个加速过程的频率变化规律逆过程。选定的曲线符合步进电机的升降过程的运行规律，并且能充分利用步进电机快速响应性好，有效转矩，缩短了升降速的时间，并且可防止过冲和失步现象。在一个实际的控制系统之中，要根据负载情况来选择步进电机。步进电机能够响应而不失步的最高步进频率被称为“启动频率”，于此类似的“停止频率”则是指系统控制信号的突然关断，步进电机不能冲过目标位置最高步进频率。电机的输出转矩、停止频率和启动频率都要与负载的转动惯量相适应，拥有了这些数据，才能有效对电机进行加减速的控制。加速过程有突然的施加脉冲启动频率。步进电机最高启动频率（突跳频率）一般为 0.1KHz 到 34KHz之间，而最高运行频率则可达到 N*102KHz，如果超过最高启动频率直接启动，则会产生堵转和失步现象。3.2.2 步进电机的换向控制步进电机在换向时，一定要在电机降到突跳频率范围之内或降速停止再换向，以免产生较大冲击而损坏电机。换向的信号一定要在前一个方向最后一个脉冲结束后，下一个方向第一个脉冲前发出。对于脉冲设计主要的要求其有一定的脉冲序列、脉冲宽度的均匀度与高低电平方式。在某一高速下正、反向切换实质包含降速、换向、加速这3 个过程。3.2.3 典型的步进电动机控制系统如图3-2所示图3-2步进电动机控制框图 3.2.3 硬件设计步进电机驱动器系统电路原理如图3-3所示图3-3 步进电机驱动器系统电路原理图AT89C51将控制脉冲从P1口的P1.4P1.7输出，经74LS14反相后进入9014，经9014放大后控制光电开关，光电隔离后，由功率管TIP122将脉冲信号进行电压和电流放大，驱动步进电机的各相绕组。使步进电机随着不同的脉冲信号分别作正转、反转、加速、减速和停止等动作。图中L1为步进电机的一相绕组。AT89C2051选用频率22MHz的晶振，选用较高晶振的目的是为了在方式2下尽量减小AT89C2051对上位机脉冲信号周期的影响。图4-3中的RL1RL4为绕组内阻，50电阻是一外接电阻，起限流作用，也是一个改善回路时间常数的元件。D1D4为续流二极管，使电机绕组产生的反电动势通过续流二极管(D1D4)而衰减掉，从而保护了功率管TIP122不受损坏。在50外接电阻上并联一个200F电容，可以改善注入步进电机绕组的电流脉冲前沿，提高了步进电机的高频性能。与续流二极管串联的200电阻可减小回路的放电时间常数，使绕组中电流脉冲的后沿变陡，电流下降时间变小，也起到提高高频工作性能的作用。3.2.3 步进电机的选取本系统设计选用57BYGH803B系列下的57BYGH803B四相5线步进电机。电机的功能主要分为三部分，第一部分由三个电机控制，包括从基座开始的一个转动副和两个移动副，实现整个机器人的位置控制。第二部分由两个转动副构成，负责控制机械手的姿态。第三部分负责控制末端机械手夹持装置。图3-2 步进电机电机参数如下：步距角：Step Angle 1.8deg环境温度：Ambient Temperature -10+55绝缘等级：Insulation Class B图3-3 步进电机接线图图3-4 步进电机尺寸图3.3 ULN2003驱动器 ULN2003是美国Texas Instruments公司与Sprague公司开发高压的大电流达林顿晶体管阵列的电路。它的组成是由7对NPN达林顿管，它的高电压输出特性与阴极箝位二极管可以转换感应的负载。单个达林顿对集电极电流是500mA。达林顿管的并联可以承受更大电流。此电路主要应用于字锤驱动器，灯驱动器，继电器驱动器，线路驱动器，逻辑缓冲器和显示驱动器（LED气体放电）。具有带负载能力强、温度范围宽、工作电压高、电流增益高等特点,适于各类要求高速大功率驱动系统。其各项的参数如下所示：图3-5 ULN2003驱动器图3-6 ULN2003驱动器逻辑框图引出段序号符号功能引出端序号符号同意功能11B输入9COM公共端22B输入107C输出33B输入116C输出44B输入125C输出55B输入134C输出66B输入143C输出77B输入152C输出8E发射极161C输出表3-1 引出端功能符号极限参数参数符号参数范围单位集电极和发射极之间的电压VCE50V输入电压VI30A集电极电流峰值IO500mA总的发射端电流IOK500mA功率消耗Pd950Tamb=25mV工作温度TOPr-20+85oC储存温度Tstg-65+1500C表3-2 ULN2003驱动器极限参数3.4 单片机的概述单片机（single-chip microcomputer）是把微型计算机主要部分集成在一块芯片上的单芯片微型计算机。单片机的芯片上集成了中央处理单元CPU，只读存储器ROM,定时/计数器，并行和穿行输入/输出接口等。由于单片机的高度集成化，缩短了系统内部的信号传送距离，优化了结构配置，大大提高了系统的可靠性及运行速度，同时它的指令系统又很适合于工业控制要求，所以单片机在工业控制及设备控制中得到可广泛的应用。目前，单片机正朝着高性能和多品种方向发展趋势将是进一步向着CMOS化、低功耗、小体积、大容量、高性能、低价格和外围电路内装化等几个方面发展。下面是单片机的主要发展趋势。CMOS化 CMOS电路的特点是低功耗、高密度、低速度、低价格。采用双极型半导体工艺的TTL电路速度快，但功耗和芯片面积较大。随着技术和工艺水平的提高，又出现了HMOS（高密度、高速度MOS）和CHMOS工艺。低功耗化 单片机的功耗已从Ma级，甚至1uA以下；使用电压在36V之间，完全适应电池工作。低功耗化的效应不仅是功耗低，而且带来了产品的高可靠性、高抗干扰能力以及产品的便携化。低电压化 几乎所有的单片机都有WAIT、STOP等省电运行方式。允许使用的电压范围越来越宽，一般在36V范围内工作。低电压供电的单片机电源下限已可达12V。目前0.8V供电的单片机已经问世。低噪声与高可靠性 为提高单片机的抗电磁干扰能力，使产品能适应恶劣的工作环境，满足电磁兼容性方面更高标准的要求。大容量化 以往单片机内的ROM为1KB4KB，RAM为64128B。但在需要复杂控制的场合，该存储容量是不够的，必须进行外接扩充。为了适应这种领域的要求，运用新的工艺，使片内存储器大容量化。目前，单片机内ROM最大可达64KB，RAM最大为2KB。高性能化 主要是指进一步改进CPU的性能，加快指令运算的速度和提高系统控制的可靠性。采用精简指令集（RISC）结构和流水线技术，可以大幅度提高运行速度。小容量、低价格化 与上述相反，以4位、8位机为中心的小容量、低价格化也是发展动向之一。这类单片机的用途是把以往用数字逻辑集成电路组成的控制电路单片化，可广泛用于家电产品。外围电路内装化 这也是单片机发展的主要方向。随着集成度的不断提高，有可能把众多的各种外围功能器件集成在片内。除了一般必须具有的CPU、ROM、RAM、定时器/计数器等以外，片内集成的部件还有模/数转换器、DMA控制器、声音发生器、监视定时器、液晶显示驱动器、彩色电视机和录像机用的锁相电路等。串行扩展技术 在很长一段时间里，通用型单片机通过三总线结构扩展外围器件成为单片机应用的主流结构。随着低价位OTP（One Time Program）及各种类型片内程序存储器的发展，加之外围接口不断进入片内，推动了单片机“单片”应用结构的发展。特别是I C、SPI等串行总线的引入，可以使单片机的引脚设计得更少，单片机系统结构更加简化及规范化。3.5 89C51系列控制单片机设计与选择 选择ATMEL公司的AT89C2051单片机1. AT89C2051性能及特点AT89C2051（以下简称 2051）是一种低功耗、高性能的8位CMOS微控制器芯片，片内带2KB的快闪可编程及可擦除只读存储器（FPEROM）。它与MCS51指令系统兼容，片内FPEROM允许对程序存储器在线重新编程，也可用常规的EPROM编程器编程。ATMEL的205l将具有多种功能的8位CPU与FPEROM结合在同一芯片上，为很多嵌入式控制应用提供了高度灵活且价格适宜的方案。2051还增加了在零频下工作的静态逻辑方式及两种软件可选的省电模式。其中，在闲置模式下，CPU停止工作，但RAM、定时器计数器、串行口和中断系统仍然在工作。在掉电模式下，只保存RAM的内容，振荡器停振，关闭芯片的所有其他功能，直到下一次硬件复位为止。2. AT89C2051主要性能（1）与MCS5l产品兼容。（2）2KB的在线可重复编程快闪存储器，寿命可达1000次写擦除周期。（3）宽工作电压范围：2.7V6V。（4）全静态工作方式：0Hz24MHz。（5）两级程序存储器加密。（6）1288位SRAM。（7）15条可编程IO线。（8）2个16位定时器计数器。（9）5个中断源。（10）可编程串行通道。（11）可直接驱动LED。（12）有片内精密模拟比较器，具备低功耗的闲置与掉电模式。3. 内部结构及引脚2051的内部结构如图2-3所示，引脚分布如图2-4所示。引脚功能说明如下： Vic 供电电源。 GND 电路地。P1口 为双向8位IO端口。P1.2P1.7引脚有内部上拉电阻，P1.0和P1.1需要外部上拉电阻。P1.0和P1.l还作为模拟比较的正输入端和负输入端，与片内精密模拟比较器相连。P1口输出缓冲器能吸收20mA灌入电流并可直接驱动LED显示器。当向端口P1写入电平“1”时，可作为输入引脚。因为P1.2P1.7有内部上拉的作用，此时若有外电路作为输入，引脚会向外灌电流（IIL）。P1口在快闪编程与校验功能中还承担数据代码接收任务。P3口 P3口只有7位P3.0P3.5和P3.7（其中P3.7引脚具有内部上拉电路）。P3.6为内部比较器输出，无外部引脚。2051无RD和WR控制信号，P3.7为一般IO线。P3口输出缓冲器能吸收20mA灌入电流，当向端口P3写入电平“1”时，可用作输入端口。因为内部上拉作用当P3口有外部低电平做输入时，引脚向外产生灌电流（IIL）。P3口也提供2051的第二功能，如表2-2所示。P3在快闪编程与校验功能中还可接收某些控制信号。 图2-3 AT89C2051的内部结构图图2-4 AT89C2051封装引脚配置图表2-2 P口提供的第二功能3P3口线第二功能P3.0RXD(串口输入)P3.1TXD(串口输出)P3.2INT0(外部中断0)P3.3INT1(外部中断1)P3.4T0(外部定时输入0)P3.5T1(外部定时输入1)RST 复位输入端。振荡器工作时，该引脚上两个机器周期的高电平可复位2051。每个机器周期为12个振荡周期（或称时钟周期）。XTAL1 振荡器反相放大器内部工作时钟电路输入端。XTAL 2 振荡器反相放大器的输出端。3.5.1 AT89C51简介AT89C51单片机是一种集成电路的芯片，是采用超大规模的集成电路技术把有数据处理能力中央处理器CPU、只读存储器ROM、随机存储器RAM、定时器/计时器、多种I/O口和中断系统等功能（可能还包括脉宽调制电路、显示驱动电路、A/D转换器等电路、模拟多路转换器）集成到一块硅片上构成一个小而完善微型计算机系统，在工业控制领域上有广泛的应用。AT89C51是一种低功耗、高性能的片内含有4KB快闪可编程擦除只读存储器(FPEROM-Flash Programmable and Erasable Read Only Memory) 8位CMOS微控制器，使用高密度、非易失存储技术制造，并且与80C51引脚和指令系统完全兼容。芯片上的FPEROM允许在线编程或采用通用的非易失存储编程器对程序存储器重复编程。AT89C51（以下简称 89C51）将具有多种功能的8位 CPU与FPEROM结合在一个芯片上，为很多嵌入式控制应用提供了非常灵活而又价格适宜的方案，其性能价格比较高。1.89C51性能及特点 89C51的主要性能包括：（1）与MCS51微控制器产品系列兼容。（2）片内有4KB可在线重复编程的快闪擦写存储器（Flash Memory）。（3）存储器可循环写入擦除1000次。（4）存储数据保存时间为10年。（5）宽工作电压范围：Vic可为2.7V6V。（6）全静态工作：可从0Hz至16MHz。（7）程序存储器具有3级加密保护。（8）1288位内部RAM。（9）32条可编程IO线。（10）两个16位定时器计数器。（11）中断结构具有5个中断源和2个优先级。（12）可编程全双工串行通道。（13）空闲状态维持低功耗和掉电状态保存存储内容。2 .片内快闪存储器 （Flash Memory） 表2-1几种典型EEPROM芯片主要性能号型28162816A12872817A2864A取数时间/ms250200/250250200/250250擦/写电压/V2152155字节擦除时间/ms10915101010写入时间/ms10915101010由于EEPROM具有在线改写，并在掉电后仍能保存数据的特点，可为用户的特殊应用提供便利。但是，擦除和写入对于要求数据高速吞吐的应用还显得时间过长，这是EEPROM芯片的主要缺陷。表2-1列出了几种典型EEPROM芯片的主要性能数据。3. AT89C51硬件结构及引脚图2-1 AT89C51内部结构图AT89C51的内部硬件结构如图2-1所示。除程序存储器由FPEROM取代了80C5l的EPROM外，其余部分完全相同。AT89C51的引脚与80C51的引脚也是完全兼容的，其引脚配置如图2-2所示。各引脚对应的功能简要介绍如下：图2-2 AT89C51的引脚Voss 接地。Vic 电源端，接。P0.00.7 P0口是开漏双向口可以写为1使其状态为悬浮用作高阻输入，P0也可以在访问外部程序存储器时作地址的低字节，在访问外部数据存储器时作数据总线，此时通过内部强上拉输出1。P0口每位可以能驱动个型负载。P1.01.7 P1口是带内部上拉的双向I/O口，向P1口写入1时P1口被内部上拉为高电平，可用作输入口。当作为输入脚时被外部拉低的P1口会因为内部上拉而输出电流。P口每位可以能驱动个型负载。P2.02.7 P2口是带内部上拉的双向I/O口，向P2口写入1时P2口被内部上拉为高电平，可用作输入口。当作为输入脚时，被外部拉低的P2口会因为内部上拉而输出电流。在访问外部程序存储器和外部数据时分别作为地址高位字节和16位地址，此时通过内部强上拉传送1。当使用8位寻址方式访问外部数据存储器时，P口每位可以能驱动个型负载。P3.03.7 P3口是带内部上拉的双向I/O口，向P3口写入1时P3口被内部上拉为高电平，可用作输入口。当作为输入脚时被外部拉低的P3口，会因为内部上拉而输出电流。P口每位可以能驱动个型负载。P3 口还具有以下特殊功能：Red(p3.0) 串行输入口Tad(P3.1) 串行输出口INT0(P3.2) 外部中断0INT1(P3.3) 外部中断T0(P3.4) 定时器0 外部输入T1(P3.5) 定时器1 外部输入WR(P3.6) 外部数据存储器写信号RD(P3.7) 外部数据存储器读信号RST 复位。当晶振在运行中只要复位管脚出现2个机器周期高电平，即可复位内部。有扩散电阻连接到Voss，仅需要外接一个电容到Vic即可实现上电复位。 ALE 地址锁存使能。在访问外部存储器时，输出脉冲锁存地址的低字节，在正常情况下，ALE 输出信号恒定为1/6 振荡频率并可用作外部时钟或定时。PSEN 程序存储使能。当执行外部程序存储器代码时，PSEN每个机器周期被激活两次。在访问外部数据存储器时，PSEN无效。访问内部程序存储器时，PSEN无效。EA/App. 外部寻址使能/编程电压。在访问整个外部程序存储器时EA必须外部置低，如果EA为高时将执行内部程序，除非程序计数器包含大于片内FLASH的地址。该引脚在对FLASH编程时，接5V/12V编程电压(App)，如果保密位1已编程，EA在复位时由内部锁存。XTAL1 反相振荡放大器输入和内部时钟发生电路输入。XTAL2 反相振荡放大器输出。3.5.2 AT89C51最小系统单片机是最小系统,或者称为最小的应用系统,是指用最少元件组成的单片机能够工作的系统.对于51系列单片机来说,最小的系统一般应该包括:电源、单片机、复位电路、晶振电路。如图3-8所示：1、 单片机：89C51单片机一片。2、 电源：5V直流电源1个。3、 晶振电路：包括12MHz晶振1只、30pF瓷片电容2只。4、复位电路：10uF电解电容1只，4k7电阻1只。图3-8 电路图（注：上图中/EA（31引脚）也可直接连接电源VCC，2k电阻可去除）3.5.3 AT89C51系统设计 对于本系统的设计主要控制对象是ULN2003与四相步进电机。采用的是手动按键控制。其中的6个步进电机与6个控制器，分别需要12个按键来实现正反转的控制。但是由于51点评及管脚限制，所以按键应采用分状态设计。如图3-10所示：图3-9 时钟电路图3-10 分状态设计图图3-11 复位电路图3-12 驱动器控制电路4 模块式六自由度机器人控制系统仿真设计4.1 仿真软件概述4.1.1 protues简介Protues软件是英国的Labcenter electronics公司出版的EDA工具软件。它不只具有其它EDA工具软件仿真功能，并且能仿真单片机及外围器件。Proteus是世界上著名EDA工具(仿真软件)，从代码调试、原理图布图到单片机和外围电路的协同仿真，一键切换到了PCB设计，真正实现从概念到产品完整设计。在编译的方面，它也支持Keil、MATLAB和IAR等多种编译。 4.1.2 Keil C51简介 keil uvision2 C51软件是目前功能最强大单片机的c语言集成开发环境。Keil C51是美国的Keil Software公司出品51系列兼容单片机C语言软件开发的系统，与汇编相比，C语言在结构性、功能上、可维护性、可读性上有明显优势，。Keil C51软件能提供丰富的库函数与功能强大集成开发调试的工具，全Windows界面。4.2 仿真系统设计4.2.1 仿真系统组成基于protues的单片机仿真系统主要由两部分组成：程序、硬件系统。程序部分默认读取格式为ASM。但本设计采用C环境下的51单片机编程控制。所以在Keil C51中生成*.HEX文件。将HEX结果文件烧录仿真系统中，实现仿真控制。4.2.2 仿真系统程序设计本设计程序分为三部分。第一部分第一各个需要的头文件和宏。四个数组分别代表了51单片机控制四相步进电机需要的四种不同的正反转时序。第二部分为定义延时函数，程序代码如下：第三部分是主函数，程序代码如下：主函数在大循环while中不断判断按键状态，如果满足相应的状态则进入电机运行程序。并且不断循环，直到监测按键状态变化。4.3 运行调试结果 运行调试结果如图4-1所示，在位置状态下控制6个按键分别调整位置的各个参数。当状态变换到姿态下时，6个按键中四个控制姿态。两个控制夹持电机的正反转。图4-1 运行调试结果总 结本文阅读了大量的文献资料，从我国六自由度机器人的研究运用现状出发，结合已有的六自由度机器人的本体结构，进行了运动学分析，轨迹规划，仿真分析，控制系统四个方面做了比较详细的研究。全文结论如下：1. 分析了国内六自由度机器人的发展现状和研究方向，以及我国发展六自由度机器人的必要性。2. 根据六自由度机器人的本体结构，利用D-H表示法对六自由度机器人进行了运动学分析，在此基础上建立了六自由度机器人的变换矩阵，推导出机器人运动学的正逆解，并根据机器人的结构，推出机器人关节空间的运动范围，给出机器人的工作空间。3. 在protues环境下，建立了机器人仿真模型，进行了运动学仿真，对正逆解的有效性进行了验证。并给出了机器人在空间中绘制矩形的仿真实例。参考文献1. 模块化机器人的设计方案及开发J. 左启鑫,彭琴,马强. 电子世界. 2015(21)2. 模块化自主变形机器人设计探索J. 毛昕,陈汗青,朱延河,王爱红. 设计. 2019(06)3. 基于PLC的工业机器人控制系统关键技术研究J. 陆雪影. 科技创新与应用. 2018(12)4. 周润景,张丽娜丁,莉.基于PROTEUS的电路及单片机设计与仿真.北京：北京航空航天大学出版社，2010.1 5. 一种六自由度串联机器人的运动学与动力学仿真分析D. 徐有胜.深圳大学 20186. 张继春，杨建国. 装配设计与运动仿真及Pro/E实现M.北京：国防工业出版 社，2006.17. 刘广瑞. 机器人创新制作M.西安：西北工业大学出版社，2007.028. 机器人发展引发的技术伦理问题探究D. 赵玉群.渤海大学 20179. 周伯英.工业机器人设计-机械工业出版社，199510. 孙迪生，王炎.机器人控制技术.机械工业出版社，199811. 基于Arduino平台的六足仿生机器人控制系统设计J. 王康南,王利霞. 物联网技术. 2018(01)12. 基于工程教育认证的单片机PBL教学模式探索与实践J. 赵宇洋,李争,王春梅. 高教学刊. 2019(02)13. 模块化协作机器人运动特性分析及动力学仿真研究J. 马国庆,刘丽,于正林,曹国华. 长春理工大学学报(自然科学版). 2018(02)14. Development and implementation of a real-time open-architecture control system for industrial robot systemsJ . J.S. G,C.W. Silva. Engineering Applications of Artificial Intelligence . 2004 (5)15. 单片机原理与应用课程教学改革与实践J. 黄茂飞,刘湘黔,刘先智. 科技创新导报. 2019(05)16. Integrated architecture for industrial robot programming and controlJ . Robotics and Autonomous Systems . 1999 (4)17. Optimal Motion Planning for Robotic ManipulatorsJ . Li Advanced Materials Research . 2014 (902)18. 王卫忠.可重构模块化机器人系统关键技术研究D.哈尔滨:哈尔滨工业大学,2007.19. Model-based control of a 6-dof electrohydraulic StewartGough platformJ . Mechanism and Machine Theory . 2007 (11)20. 基于PLC的工业机器人控制系统关键技术研究J. 陆雪影. 科技创新与应用. 2018(12)21. A new and efficient algorithm for the inverse kinematics of a general serial 6 R manipulatorJ . Mechanism and Machine Theory . 2006 (1)22. 模块化自主变形机器人设计探索J. 毛昕,陈汗青,朱延河,王爱红. 设计. 2019(0623. Delta Tau Data System Inc.Turbo PMAC2 User ManualM.USA: Delta Tau Data System Inc,2006.24. 基于PLC的工业机器人控制系统关键技术研究 J. 陆雪影. 科技创新与应用. 2018(12)25. 汪洋,李斌,陈丽,等.蛇形机器人控制系统的设计与实现J.机器人,2003,25(6):491-494,500.26. 张邦成,韩跃营,王占礼,等.基于PMAC的仿人按摩机器人手臂控制系统设计J.机械设计与制造,2012(4):56-58.附录程序代码#include#define out_port (P2) #define out_port1 (P1) #define out_port2 (P3)sbit key_for=P00;sbit key_rev=P01;sbit key_6=P02;sbit key_5=P03;sbit key_4=P04;sbit key_3=P05;sbit key_2=P06;sbit key_1=P07;typedef unsigned char uchar;typedef unsigned int uint;void delayms(uint);uchar const sequence8 = 0x02,0x06,0x04,0x0c,0x08,0x09,0x01,0x03;uchar const sequenceR8 = 0x03,0x01,0x09,0x08,0x0c,0x04,0x06,0x02;uchar const sequence18 = 0x20,0x60,0x40,0xc0,0x80,0x90,0x10,0x30;uchar const sequence1R8 = 0x30,0x10,0x90,0x80,0xc0,0x40,0x60,0x20;void main(void) int i=0; while(1) / Has the forward key been pressed ? if (key_for=1&key_1=1) while(1) out_port = sequencei%8; delayms(50); i+ ; if(key_1=0)break; if (key_for=1&key_2=1) while(1) out_port = sequenceRi%8; delayms(50); i+ ; if(key_2=0)break; if (key_for=1&key_3=1) while(1) out_port = sequence1i%8; delayms(50); i+ ; if(key_3=0)break; if (key_for=1&key_4=1) while(1) out_port = sequence1Ri%8; delayms(50); i+ ; if(key_4=0)break; if (key_for=1&key_5=1) while(1) out_port2 = sequencei%8; delayms(50); i+ ; if(key_5=0)break; if (key_for=1&key_6=1) while(1) out_port2 = sequenceRi%8; delayms(50); i+ ; if(key_6=0)break; if (key_rev=1&key_1=1) while(1) out_port1 = sequencei%8; delayms(50); i+ ; if(key_1=0)break; if (key_rev=1&key_2=1) while(1) out_port1 = sequenceRi%8; delayms(50); i+ ; if(key_2=0)break; if (key_rev=1&key_3=1) while(1) out_port1 = sequence1i%8; delayms(50); i+ ; if(key_3=0)break; if (key_rev=1&key_4=1) while(1) out_port1 = sequence1Ri%8; delayms(50); i+ ; if(key_4=0)break; if (key_rev=1&key_5=1) while(1) out_port2 = sequence1i%8; delayms(50); i+ ; if(key_5=0)break; if (key_rev=1&key_6=1) while(1) out_port2 = sequence1Ri%8; delayms(50); i+ ; if(key_6=0)break; void delayms(uint j) uchar i; for(; j0; j-) i = 120; while (i-); 66Control system design of modular 6-DOF robot1 IntroductionFirst, I explain the background of robots, robot technology development. It should be said It is a common scientific and technological development of a comprehensive results. For the soci - economic development of a significant impact on a science and technology. It attributed the development of all countries in the Second World War to strengthen the economic input on Strengthening the countrys economy development.But they also demand the development of the productive forces the inevitable result of human development itself is the inevitable result then with the development of humanity. People constantly discuss the natural process, in understanding and reconstructing the natural process, people need to be able to liberate a slave. The slave people to be able to replace the complex and engaged in heavy manual labor, people do not realize right up to the worlds understanding and transformation of this technology as well as people In the development process of an objective need.Robots are three stages of development, in other words, we are system to regarding Robots are divided into three categories. Is a first-generation Robots, also kanown as train-type robot, It is through a computer, to control over one of a mechanical degrees of freedom through teaching and information stored procedures.Working hours to read out information, and then issued a directive so the robot can repeat according to the people at that time said the results show this kind of movement again, For example, The car spot welding robots, only to puf this spot:show this kind of movement again. For example, the car spot welding robots, only to put this spot welding process, after teaching, And it is always ways a repeat of a work It has the best.Al environment is no perception that the force manipulation of the size of the work piece there does not exist, welding Os It does not know, then this fact from the first generation robot, It will exist this shortcoming of it in the 20 th century, the newest External environment.In 1970, people starred the to study the second - generation robot, called robot have the Feeling that This feeling with the robot is similar in function of a certain feeling Mobile phone collector.Product 6- manufacture Site navigation Battalion about robot foreign language window machine user foreign translation x12 baidu home page 184 , reinforcement Library on robot foreign language materials with translation Search on the phone open.For Example, force and touch, slipping, visual, hearing and who is analogous to that with all kinds of feelings, say in a robot grasping objects, in fact, it can be the size of robot.Feeling out, it can through the visual, to be able to feel and identify its shape, size, color Grasping an egg, it adopted a acumen, aware of its power and the size of the slide.Third - generation robots, we were a robotics, the ideal pursued by the most advanced stage, called intelligent robots, so long as the tell it what to do, not how to tell it to do, It will be able to complete the campaign, thinking and perception of this man-machine communication function and function Well, this current development or relative .In a smart part of the concept and meaning But the real significance of the integrity of this intelligent robot did not actually exist, But as we continued the development of science and technology, The concept of intelligent in his rich, it grows ever wider connotations.Now, I would like to briefly outline some of the industrial robot situation. So far,the industrial robot is the most dynamic and widely used category of a robot. Now the worlds total sales of 1.1million Taiwan, which is the 1999 statistics, however, 1.1million in Taiwan have been using the equipment is 75 million, this volume is not small. Overall, The Japanese industrial robots in this one, is the first of the robots to become the Kingdom, the United States have developed rapidly. Newly installed in several areas of Taiwan, Which already exceeds Japan, China has only just begun to enter the stage of industrialization, has developed a variety of industrial robot prototype and small batch has had 2 in production.The search text slot opens on the phone.Posture adjustment to the use of the three autonomy, the general robot has six degrees of freedom. We will be able to space the three locations, three postures, the robot fully achieved, And of course we have less than six degrees of freedom. Have more than six degrees of freedom robot, in different occasions the need to configure.The second category often vice robots with the development of industrialization.Especially in the past decade, Robot development in the areas of application are very important characteristic, as we all know, Robot has gradually shifted from manufacturing to non - manufacturing and service industries, We are talking about the car manufacture belonging to the manufacturing industry, clear that the services sector o cleaning, refueling, rescue .Ever expanding, and now a very rescue.Relief, etc. These belong to the non-manufacturing industries and service industries, so here is compared with the industrial robot, it is a very important difference. Primarily a mobile platform, it can move to sports, there are some arms operate, consistent install some as a force sensor and visual sensors, ultrasonic ranging sensors, Etc. Its surrounding environment for the conduct of identification, to determine its campaign to complete some work, this is service robots one of the basic character .For example, Domestic robot is mainly embodied in tie example of some of the carpets and flooring it to the regular cleaning and vocuming. The robot, it is very meaningful has sensors it, It can furniture and people can identify according to a law put the to the ground under the road all cleaned up. This is also this Home of coma mohonar for manna And the library about robot foreign language materials with translation .The search text slot opens on the phone enjoy the document.For example, domestic robot is mainly embodied in the example of some of the carpets and flooring it to the regular cleaning and vacuuming. The robot it is very meaning fuel, it has sensors, It can furniture and people can identify to automatically according to a law put the to the ground under the road all cleaned up. This is also the home of some robot performance.The medical robots, nearly five years of relatively rapid development of new application areas, If people in The course of an operation, doctors surgery, Is a fatigue, and the other manually operated accuracy is limited. Some universities in Germany, Which, facing the spine, lumbar disc diseases, the identification, Can automatically use the robot-framing, operation and surgery Ike the United States have been more than 1,000 cases of human eyeball robot surgery, the robot, Braking including remote - controlled that the right of to gastrointestinal surgery, we see on the television inside. A manipulator. About the thickness fingers to a manipulator, inserted through the abdominal viscera, people on the screen operating the machines hand, it also informs the method of laser lesion laser treatment, This is the case VIP exclusive access to documentsVery complex, while it is fully automated to complete all the work, there areulies, and generally are people to participate. The development of to a surgery Lin Bai an example, through the screen, through a remote control operator to control another manipulator, Through the realization of the right abdominal surgery A few years ago in our country the exhibition, The United States has beer successful in achieving the right to the heart valve surgery and bypass surgery. This robot has in the area, causing a great sensation, but also AESOP surgical robot. In fact, it through some equipment to some of the lesions inspections, through a Manipulator can be achieved on some parts of the operatiat so o remotely operated manipulator, And many doctors are able to participate in the robot under surgery robot doctor to include doctors with pliers, tweezers or a knife to replace the nurses, While lighting automatically to the doctors movements linked, the doctor hands off, lighting went off, This is very good, a doctors assistant.Robot is mankinds right-hand man; Friendly coexistence can be a reliable friend. In future, we will see and there will be a robot space inside, As a mutual aide and friend Robots will create the jobs issue. We believe that there would not be a robot appointment of workers being laid off situation, Liberated because people with the development of society, In fact the people from the heavy physical and dangerous environment liberated, so that people have a better position to work, To create a better spiritual wealth and cultural wealth.Step-by-step electric motor is the ring opening gating element changing electricity pulse signal into angular displacement or line displacement. Under the situation of must overload, the electric motor rotation rate , discontinuous location depend on pulse signal frequency and pulse number only , make free from being loaded with the effect changing but, be to add a pulse signal for electric motor, the electric motor had rotated a step spur angle then. This gleam of the sexual relationships existence, adds step-by-step electric motor characteristics such as only having the cyclicity error but there being no accumulative error. Feasible simplicity controlling a field using step-by-step electric motor to come to control changeable extraordinary in speed, location etc.Step-by-step electric motor can not resemble the average continuous current dynamo although step-by-step electric motor is applied already by broad field, the AC dynamo is put into use under routine. It must be able to put into use from composition navar such as pair of an nularity pulse signal power drive circuit. Thing easy to finish using step-by-step electric motor but mistake therefore, it deals with many professional knowledge such as machinery, electric motor, electron and computer etc.2 working principle2.1 Principle of reactive stepping motorResponse equation step-by-step electric motor principle. Since response equation step-by-step electric motor operating principle be comparatively simple. Following narrates three-phase response equation step-by-step electric motor principle first.(1) structure: The rotor is distributing many small teeth homogeneously, the stater tooth is having three excitations wind hinder, whose geometry axis parts for in proper order and the rotation tooth axis staggers. 0 , 1/3 , 2/3, (the distance bordering two rotation tooth axes rooms indicates that) for teeth space with tee, 1 is on the level with namely the A and tooth relatively, B 2 staggers 1/3 towards the right with the tooth, C 3 staggers 2/3 towards the right with the tooth , that 5 (As relatively neat and tidy move towards A and the tooth is A, tooth 5 is a tooth 1).(2) revolves: If A looks at and appraises the circular telegram , B, the magnetic field acts on , when since C does not electrify each other, 1 aligns with A a tooth, (the rotator does not accept any equal force the following surname). 2 responds to and B aligns a tooth if B looks at and appraises the circular telegram , A, when C does not electrify each other, the rotation had moved 1/3 towards the right now, tooth now 3 4 offsets with C excursion for 1/3 , tooth with A (te-1/3te) = 2/3 . 3 responds to and C aligns a tooth if C electrifies each other , A , B do not electrify each other, the rotation had moved 1/3 towards the right now , 4 has off set the tooth now with A for 1/3 alignment. 4 has aligned with A tooth if A electrifies each other , B , C do not electrify each other, the rotation had moved 1/3 towards the right electrifying like this by that A , B , C , A part for state, 4 (be 1 first one tooth teeth) moves to A appearance a tooth , the rotor turns right being over one tooth distance, if pushing down A , B , C , A unceasingly, . Circular telegram , each electric motor step (1/3 per pulse) , towards the right revolve. If according to A , C , B , A, . The circular telegram , the electric motor will roll back. This proves: Electric motor location and speed becomes one to one correspondence relation from electric conduction number of times (pulse number) and frequency. But, direction decides from electric conduction order. Living with, originating from to force moment, stable, aspect such as noise and decrease angle thinks. Sometimes adopt A-AB-B-BCC-CA-A this electric conduction state, such changes original 1/3 per step for 1/6 . Different even by two-phase electric current combination, makes whose 1/3 become 1/12 , 1/24 , this it is electric motor to subdivide the fundamental theory basis driving. The disaster does not debut: The electric motor has m to look at and appraise an excitation on the stater wind hinder, whose axis parts for and the rotator tooth axis offsets 1/ ms, 2/ ms,. (M-1)/ m, 1. And conduct electricity rotating the physics condition this is controlled being that step-by-step electric motor rotates according to certain appearance order electric motor with regard to energy positive and negative. We can create step-by-step electric motor that any looks at and appraises theoretically as long as meeting this once requirements , wait to think having many sides out of cost, two , three , four , five phase is many for being just like on the marketplace.(3) force moment: The electric motor is to lead magnetism area F and L * D * Br direct proportion once whose magnetic flux = Br * S Br electrifying , will produce the magnetic field (magnetic flux ) thinking that the rotation and the stater stagger the certain angle producing force F in fixing the rotation room with direct proportion (d/d) is magnetism secret , S Effective for iron core length of L, D is a rotation diameter Br = N & # 8226; I/R N & # 8226; I am wound for the excitation hindering ampere-turns R from being magnetism hinder. Dense direct proportion of effective with the electric motor force moment = force * radius force moment volume * ampere-turns * magnetism therefore, effective volume of electric motor is increasingly big excitation ampere-turns is increasingly big, the gas crack is increasingly small among fixing a rotation , electric motor force moment is increasingly big, vice versa.2.2 Induced son style step-by-step electric motor(1) characteristic: Induced son style step-by-step electric motor is compared with the tradition response equation step-by-step electric motor , the upper rotation adds structure have a permanent magnet, to provide soft magnetism material working spot, but only, exciting magnetism of stater needs the magnetic field providing change but provides magnetism material unnecessarily the working spot consuming energy, therefore, being an electric motors turn is efficient , electric current is minor , generate heat low. The existence because of the permanent magnet, is an electric motors turn to have stronger on the contrary electric potential, whose oneself antihunt action finishes comparing, comparison is stable in making the person depend on travel process , noise is low , low frequency vibration is small.Some species degree mounts induced son style step-by-step electric motor not bad look upon as be a synchro electric motor of low speed. A four phase electric motor can assume a four phase working, also can do two-phase operation. But, the response equation electric motor is so-called being not able to. A two-phase electric motor inside winding and four phase electric motor is completely consistent , miniwatt meets directly like the electric motor for the two-phase , big partial power electric motors, are put into use but for convenience, nimbly changing the electric motor development characteristic, will sometimes when whose outside works a telephone switchboard for eight fuses (four phase) , such is put into use, now that being able to do four look at and appraise electric motor usage , being able to assume two-phase electric motor winding series arrangement or connecting in parallel being put into use.(2) classifies: Induced detachable By : of son style step-by-step electric motor Yi Xiang number The electric motor waits for the two-phase electric motor , three-phase electric motors , four phases electric motors , five phases. With the chassis, the number (electric motor outside diameter) may divide By: But 42 BYG (BYG is induced son style step-by-step electric motor code name) , 57 BYG , 86 BYG , 110 BYG, (international standard), BYG , 90 BYG , 130 BYG etc. is without exception in the homeland standard like 70.(3) step-by-step electric motor static state index technical term: Look at and appraise a number: Produce the field winding (field coil ) logarithm different to pole N , the S magnetic field. M in common use is expressed. Pat a number: Accomplish what a magnetic field cycli city change requires the pulse number or electric conduction state to use n to indicate that , point to or an electric motor have rotated what a teeth space angle needs the pulse number, the electric motor is an example with the four phase , have four to look at and appraise four patting operation way be that AB-BC-CD-DA-AB, four phases eight beats operation way are A-AB-B-BC-C-CD-D-DA-A. Step spur angle: A corresponding pulse signal, the angular displacement that the rotor had rotated uses theta to indicate that. 360 degree of theta = (J * is working in the rotation tooth patting a number), taking as an example routine two, four phase, the rotation tooth is that 50 tooth electric motors are examples. The step is that theta = (50 * 4) = 1.8 360 degree of/ degree (popular names are complete step) from the angle when four pat operation, the step is theta = (50 * 8) = 0.9 360 degree of/ degree (popular names from the angle when eight pats operation half steps). Revolution regulation fixing position: The electric motor issues in the state not electrifying , rotor selfs lock-in force moment (error brings about from magnetic field jugged harmonic and machinery) quietness rotates regulation: The electric motor moves downwards in fixed static state electricity effect, when the electric motor does not compose revolution sport, electric motor rotation shaft lock-in force moment. This force moment is to judge electric motor volume standard, with independence such as driving voltage and driving a power source. Be connected with the gas crack fixing the tooth rotation room though rotating regulation and exciting a bam pere of electromagnetism number of wind direct proportion quietly, but excessive adopt the diminution gas crack, coming to improve quiet force moment the ampere-turn increasing exciting magnetism is fever heat and machinery noise advisable , this may bring about an electric motor.(4) step-by-step electric motor development indices and technical terms: Step spur angular accuracy: Step-by-step electric motor had rotated a step error from piece of actual value and theory value every time. Use percentage to indicate that: Error/ step spur angle * 100%. Diversity runs beat its is different in value , four respond to within 5% when patting operation, eight responds to within 15% when patting operation. Step failing out:When the electric motor works, the step number moving round, is unequal to the theoretical step number. Be called a step failing out. Lose balance angle: The rotator tooth axis offsets stater tooth axis angle, the electric motor works existence loses balance necessarily angle, the error losing balance coming into being piece, adopt a reason subdivide drive be to be able to not solve. The maximal empty load starts frequency: Under drive the form, voltage kind in some and fixed electric current of electric motor, under the situation of not adding loads, maximal frequency being able to start directly.(5) maximal no-load operation frequency: The electric motor drives a form kind in some , the electric motor does not bring maximal loads rotation rates frequency along under voltage and fixed electric current.(6)runs regulation frequency characteristic property: Electric motor curve measuring the relation exporting force moment and frequency in such that working under kind of testing condition in some is called working regulation frequency characteristic property , this is that a lot of electric motor development curves middle is the most important , is is also an alternative basic electric motor basis. Other characteristic property still has being used to frequency characteristic property, starting frequency characteristic property and so on. But the electric motor is in a single day selected, quiet electric motor force moment ascertains that, development force moment but not the case, the electric motor development force moment depends on the average electric current time electric motor operation (but is not that quiescent current) , average electric current are increasingly big , electric motor output force moment is increasingly big , the frequency characteristic property being an electric motor is increasingly hard. Be going to make average electric current big, to improve drive voltage as far as possible , use the electric motor adopt small inductance heavy current.(7) electric motors resonance point: Step-by-step electric motor has fixed resonance area equally, (the step controls the (step is 0.9 degree from the angle) a two , four phase like induced son style step-by-step electric motor resonance region between 180-250pps from 1.8 piece of degree) or in 400 pps , the electric motor drives voltage increasingly highly , electric motor electric current is increasingly big , loads are increasingly light , electric motor volume is increasingly small, the resonance region offsets then upward, vice versa, be make the electric motor output electricity regulation big, the step and entire systematic noise reduce after all, The general working spot should offset a resonance region without exception more. The positive and negative controls (8) electric motors revolution: Think that the electric motor winding electrifies when sequence is AB-BC-CD-DA being to rotating , publish an open telegram to be to roll back when sequence is DA-CA-BC-AB.2.3 Composition of drive control system2.3.1 Generation of pulse signal Pulse signal creation comes into being like pulse signal from the monolithic machine or CPU, the general pulse signal Zhan empty space ratio is controlled by 0.3-0.4 , that the electric motor rotation rate gets over height , takes up empty space is increasingly bigger than being.2.3.2 Signal distributionThe signal assigns induced son style step-by-step electric motor giving first place to two, four phase electric motor, eight have four two-phase beats and two-phase beats assign two-phase electric motor mechanics two kinds, concretely as follows: Four two-phase beats are AB-AB-AB-AB, the step is 1.8 degree from the angle; Eight two-phase beats are AB-B-AB-A-AB-B-AB-A-AB, the step is 0.9 degree from the angle. Electric motor mechanics also has four two kinds each other, four pat a four phase for AB-BC-CD-DA-AB, the step is 1.8 degree from the angle; Eight pats a four phase for AB-B-BC-C-CD-D-AB , the step is 0.9 degree from the angle.2.3.3 Power amplification That power puts in high-power amplification is to drive be most important part of system. The step-by-step electric motor revolution regulation under certain rotation rate depends on its average development electric current but is not quiescent current. This needs the average electric current sharing increasingly big electric motors of electric current force moment needing to reach increasingly greatly, to drive system overcoming electric motor on the contrary electric potential to the full greatly right away. As a result different occasion adopts different drive way, by now, have several kinds the following like driving way: The constant voltage, the constant voltage string electric resistance together, high low pressure drives, constant current, subdivides a several grade. Once step-by-step electric motor getting into form, whose function depends on the electric motor drive power source. The step-by-step electric motor rotation rate is increasingly high, force distance is the bigger , the higher the voltage then, requiring that the electric motor electric current is increasingly big , driving a power source.2.3.4 Subdivision driveBut under subdividing drive condition being put into use from when the angle can not be satisfied with in step-by-step electric motor step, adopt to come to drive step-by-step electric motor subdividing drive, subdividing the drive principle is by changing adjacent (A, B) voltaic size, to change the travel coming to control step-by-step electric motor the intersection angle composing a magnetic fields.模块式六自由度机器人控制系统设计1 引言首先我介绍一下机器人产的背况,机器人技术的发展,它应该说是个科学技术发展共间的一个综合性的结果,同时,为Y会经济发展产生了一个重大影响的一门科学技术,它的发展山功于在第一次1界大成中各加强了经济的投入,就加强了本肌的经济的发展,另一力米它也是1产力发展的需求的必然结果,也是人类自身发展的必然结果,必么随者人类的发展,人们在不断探讨自然过程中,在认识和改进1然过理中,需要能够督放人的一种奴录。那么这种奴隶就是代替人们去能够从事复条知聚重的体力劳动,实现人们对不可达世界的认识和改造,这也是人们在科技发展过科中的一个客观需要。机器人有一个发展阶段,那么也就是说,我们习惯于把机器人分成一类,一种是第一代机器人,那么也四示教前现型机器人,它是通过一个计算机,米控制个多自由度的一个机械,通过示教在储程序和信息,工作时把信息该取出米,然后发出指令,这样的话机器人可以重复的根据人当时示教的结果,再现出这种动作,比方说汽车的意辉机器人,它只要把这个点焊的过程示教定以后,它总是重复这样一种工作,它对于外界的环境没有感知,这个力操作力的大小,这个工件存在不存在,群的好与坏,它并不知道,那么实际上这种从第一代机器人,也就存在巴这种缺路,因此,在20个世纪70年代后期,人们开始研究第代机器人,m擅感觉的机器人,这种带感觉的机器人是类似人在某种功能的含好,比期说力,比如说力觉,触觉,滑觉,视觉,听觉和人进行相类比,有了各种各样的感觉,比方说在机器人抓一个物体的时候,它实际上力的大小能感觉出来,它能够通过视觉,能够去感受和识别它的形状,大,小颜色。抓一个鸡蛋,它能通过一个触,觉知道它的力的大小和滑动的情况。第三代机器人,也是我们机器人学中一个理想的所追求的最高级的阶段,叫智能机器人,那么只要告诉它做什么,不用告诉它怎么去做,它就能完成运动,感知思维和人机通讯的这种功能和机能,那么这个目前的发展还是相对的只是在局部有这种智能的概念和含义,但真正完整意义的这种智能机器人实际上并没有存在,而只是随着我们不断的科学技术的发展,智能的概念越来越丰富,它内涵越来越宽。下边我简单介绍一下工业机器人的一些情况。到目前为止,工业机器人是最成熟,应用最广泛的一类机器人,世界总量目前