機械靈巧手的機構(gòu)與控制方案

1、摘 要I提供全套畢業(yè)設計，歡迎咨詢摘要 摘要本論文主要介紹實現(xiàn)抓取工作的機械靈巧手的機構(gòu)與控制方案。主要包括以下幾個部分。第一部分介紹機械手的概況和發(fā)展歷史，通過國內(nèi)外機械手的發(fā)展情況，講述本研究項目的背景和目標。第二部分介紹了機械手設計的總體方案，提出了機械手總體設計目標及任務，闡述了系統(tǒng)設計思想和設計過程，并對三維實體模型設計也進行了探討,以及對驅(qū)動系統(tǒng)的選取進行概括。第三部分分別介紹了設計的幾個環(huán)節(jié)，對多自由度靈巧手，機械手臂進行

2、分析。第四部分對機械靈巧手的控制系統(tǒng)方案，建立了以 C8051F040芯片為核心的硬件系統(tǒng)，然后確定了系統(tǒng)的軟件結(jié)構(gòu)，編寫了 C 語言控制程序。最后，對機械手結(jié)構(gòu)的工作空間和性能進行了簡要分析。關鍵詞: 機器人手臂 8051 控制系統(tǒng) 靈巧手 伺服電機 PWM 控制AbstractIIAbstractThis paper introduces the mechanical dexterity of hand grab work ins

3、titutions and control programs. Mainly includes the following sections. The first section describes the overview and history of the development of the robot, the robot at home and abroad, about the background and objecti

4、ves of this research project, pointed out the difficulty and focus of the design. The second part describes the overall program of the robot design, the overall design objectives and tasks of the robot on the system desi

5、gn thinking and design process, and three-dimensional solid model design are also discussed. The third part introduces several aspects of the design, analysis of multiple degrees of freedom dexterous hand, the mechanical

6、 arm. The fourth part of the mechanical dexterous hand control system program, the establishment of the C8051F040 chip as the core of the hardware system, and then determine the structure of the system software, the prep