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長春理工大學(xué)光電信息學(xué)院學(xué)生畢業(yè)設(shè)計（論文）登記表
分院
機電工程分院
專業(yè)
機械設(shè)計制造及其自動化
班級
學(xué)生姓名
指導(dǎo)教師
設(shè)計（論文）起止日期
2010年3月8日—6月18日
教研室主任
題目名稱（包括主要技術(shù)參數(shù)）及要求
1. 題目名稱：氣動通用機械手驅(qū)動系統(tǒng)設(shè)計
2. 要求:
（1）.用途： 用于沖床上下料
（2）.規(guī)格參數(shù) 抓重：常速時（10Kg），低速時（15Kg） 定位方式：可調(diào)機械板塊
自由度數(shù)：4個 定位精度：0.5mm
坐標形式：圓柱坐標 最大工作半徑：1440mm
手臂最大中心高：1380mm 手臂升降速度：300mm/s
手臂升降形成：200mm 手臂回轉(zhuǎn)范圍：0°—240°
手臂回轉(zhuǎn)速度：90°/s
論文開題報告（設(shè)計方案論證）
應(yīng)包括以下幾方面的內(nèi)容：
1、 本課題研究的意義；2、調(diào)研（社會調(diào)查）情況總結(jié)；3、查閱文獻資料情況（列出主要文獻清單）；4、擬采取的研究路線；5、進度安排。
1、本課題研究的意義：
本課題是利用所學(xué)過的機械設(shè)計及其相關(guān)的理論知識來設(shè)計機械手的驅(qū)動系統(tǒng)，通過對機器人及機械手的組成及工作原理的了解以及設(shè)計方法的掌握，并查閱大量資料，以達到對機械手的驅(qū)動系統(tǒng)設(shè)計，并掌握機械手在工業(yè)中的應(yīng)用。
2、調(diào)研情況總結(jié)：
為了更好的完成本課題，在指導(dǎo)教師的帶領(lǐng)下，我們在網(wǎng)上查閱了大量機械手的動畫圖片及有關(guān)文獻，對機械手驅(qū)動系統(tǒng)設(shè)計的功能原理及結(jié)構(gòu)有了直觀的了解，使我們的設(shè)計思路得到了很大啟發(fā)，并對我們設(shè)計過程當中出現(xiàn)的問題如何正確解決有了一定的幫助，對順利完成本設(shè)計是至關(guān)重要的。
3、參考文獻
[1].宋文騏 萬廣珉 機械手的基本知識 云南： 昆明理工大學(xué)學(xué)報 2006年 [8]工業(yè)機械手圖冊編寫組編.工業(yè)機械手圖冊.北京：機械工業(yè)出版社，1978 年
[2] 劉祚時 吳翠琴 機械手驅(qū)動系統(tǒng)的研究 江西 ：江西理工大學(xué) 2001年 [9].徐灝主編.機械設(shè)計手冊第五卷.北京：機械工業(yè)出版社，1992
[3] 董林福等 氣動元件與系統(tǒng)實圖 北京：化學(xué)工業(yè)出版社 2000年 [10].陸祥生等編.機械手—理論與應(yīng)用.北京：中國鐵道出版社，1985
[4] 鐘越先 林亨 機械系統(tǒng)計算機控制 北京 ：清華大學(xué)出版社 2001年 [11]Harttey J著.Robots at Work.1983
[5] 潘先耀. 氣動機械手的開發(fā)與研究 河北： [D]燕山大學(xué), 2002 [12] .高井宏幸（日）等編著.工業(yè)機械人的結(jié)構(gòu)與應(yīng)用.北京：機械工業(yè)出版社1997
[6]天津大學(xué)編.工業(yè)機械手設(shè)計基礎(chǔ).天津：天津人民出版社，1980 [13] —機部情報所編.國外工業(yè)機械手參考資料.重慶：科學(xué)技術(shù)文獻出版社重慶分社1980
[7] .張建民編著.工業(yè)機器人.北京：北京理工大學(xué)出版社，1988 [14] .吳旭朝編.工業(yè)機械手設(shè)計基礎(chǔ).天津：天津科學(xué)技術(shù)出版社，1980
4、 擬采取的研究路線：
指導(dǎo)老師下達任務(wù)→充分理解課題要解決的問題→查閱文件和素材（圖書館、上網(wǎng)）→翻譯英文資料→網(wǎng)上觀察機械手及機器人的模擬動畫→撰寫論文→CAD繪圖→指導(dǎo)教師審查→修改、完善、定稿→準備答辯
5、 進度安排：
3月 8日—3月 14日 調(diào)研、查閱文獻及書籍、翻譯英文材料。
3月 15日—3月 21日 撰寫開題報告。
3月 22日—4月 11日 進行功能原理設(shè)計。
4月 12日—5月 2日 進行結(jié)構(gòu)設(shè)計。
5月 3日—5月 30日 CAD畫圖。
5月 31日—6月 18日 整理設(shè)計說明書、準備答辯。
指導(dǎo)教師審閱意見：
2010年03 月 15 日
記事：
指導(dǎo)教師審閱意見：
年 月 日
Robot
Robot is a type of mechatronics equipment which synthesizes the last research achievement of engine and precision engine, micro-electronics and computer, automation control and drive, sensor and message dispose and artificial intelligence and so on. With the development of economic and the demand for automation control, robot technology is developed quickly and all types of the robots products are come into being. Modern industrial robots are true marvels of engineering. A robot the size of a person can easily carry a load over one hundred pounds and move robots over it very quickly with a repeatability ±0.0006 inches. Furthermore these robots can do 24 hours a day for years on end with no failures whatsoever. Though they are reprogrammable, in many applications (particularly those in the auto industry) they are programmed once and then repeat that exact same task for years. The practicality use of robot products not only solves the problems which are difficult to operate for human being, but also advances the industrial. At present, the research and development of robot involves several kinds of technology and the robot system configuration is so complex that the cost at large is high which to a certain extent limit the robot abroad use. To develop economic practicality and high reliability robot system will be value to robot social application and economy development automation program.
With the rapid progress with the control economy and expanding of the modern cities, the let of sewage is increasing quickly. With the development of modern technology and the enhancement of consciousness about environment reserve, more and more people realized the importance and urgent of sewage disposal. Active bacteria method is an effective technique for sewage disposal，The lacunaris plastic is an effective basement for active bacteria adhesion for sewage disposal. The abundance requirement for lacunaris plastic makes it is a consequent for the plastic producing with automation and high productivity. Therefore, it is very necessary to design a manipulator that can automatically fulfill the plastic holding.
With the analysis of the problems in the design of the plastic holding manipulator and synthesizing the robot research and development condition in recent years, a economic scheme is concluded on the basis of the analysis of mechanical configuration, transform system, drive device and control system and guided by the idea of the characteristic and complex of mechanical configuration, electronic, software and hardware. In this article, the mechanical configuration combines the character of direction coordinate and the arthroscopic coordinate which can improve the stability and operation flexibility of the system. The main function of the transmission mechanism is to transmit power to implement department and complete the necessary movement. In this transmission structure, the screw transmission mechanism transmits the rotary motion into linear motion. Worm gear can give vary transmission ratio. Both of the transmission mechanisms have a characteristic of compact structure. The design of drive system often is limited by the environment condition and the factor of cost and technical lever. The step motor can receive digital signal directly and has the ability to response outer environment immediately and has no accumulation error, which often is used in driving system. In this driving system, open-loop control system is composed of stepping motor, which can satisfy the demand not only for control precision but also for the target of economic and practicality. On this basis，the analysis of stepping motor in power calculating and style selecting is also given.
The analysis of kinematics and dynamics for object holding manipulator is given in completing the design of mechanical structure and drive system. Kinematics analysis is the basis of path programming and track control. The positive and reverse analysis of manipulator gives the relationship between manipulator space and drive space in position and speed. The relationship between manipulator’s tip position and arthroscopic angles is concluded by coordinate transform method. The geometry method is used in solving inverse kinematics problem and the result will provide theory evidence for control system. The f0unction of dynamics is to get the relationship between the movement and force and the target is to satisfy the demand of real time control. in this chapter, Newton-Euripides method is used in analysis dynamic problem of the cleaning robot and the arthroscopic force and torque are given which provide the foundation for step motor selecting and structure dynamic optimal ting.
Control system is the key and core part of the object holding manipulator system design which will direct effect the reliability and practicality of the robot system in the division of configuration and control function and also will effect or limit the development cost and cycle. With the demand of the PCL-839 card, the PC computer which has a. tight structure and is easy to be extended is used as the principal computer cell and takes the function of system initialization, data operation and dispose, step motor drive and error diagnose and so on. At the same time, the configuration structure features, task principles and the position function with high precision of the control card PCL-839 are analyzed. Hardware is the matter foundation of the control. System and the software is the spirit of the control system. The target of the software is to combine all the parts in optimizing style and to improve the efficiency and reliability of the control system. The software design of the object holding manipulator control system is divided into several blocks such as system initialization block, data process block and error station detect and dispose model and so on. PCL-839 card can solve the communication between the main computer and the control cells and take the measure of reducing the influence of the outer signal to the control system.
The start and stop frequency of the step motor is far lower than the maximum running frequency. In order to improve the efficiency of the step motor, the increase and decrease of the speed is must considered when the step motor running in high speed and start or stop with great acceleration. The increase and decrease of the motor’s speed can be controlled by the pulse frequency sent to the step motor drive with a rational method. This can be implemented either by hardware or by software. A step motor shift control method is proposed, which is simple to calculate, easy to realize and the theory means is straightforward. The motor'''' s acceleration can fit the torque-frequency curve properly with this method. And the amount of calculation load is less than the linear acceleration shift control method and the method which is based on the exponential rule to change speed. The method is tested by experiment. At last, the research content and the achievement are sum up and the problems and shortages in main the content are also listed. The development and application of robot in the future is expected.
The purpose of manipulator control is to maintain the dynamic response of a computer-based manipulator in accordance with some preset system performance and desired goals. In general, the dynamic performance of a manipulator directly depends on the efficiency of the control algorithms and the dynamic model of the manipulator. T he control problems consists of obtaining dynamic models of the physical robot arm system and then specifying corresponding control laws or strategies to achieve the desired system response and performance.
Current industrial approaches to robot arm control treat each join of the robot arm as a simple joint servomechanism. The servomechanism approach models the varying dynamics of a manipulator inadequately because it neglects the motion and configuration of the whole arm mechanism. These changes in the parameters of the controlled system sometimes are significant enough to render conventional feedback control strategies ineffective. The result is reduced servo response speed and damping, limiting the precision and speed of the end-effort and making it appropriate only for limited-precision tasks. Manipulators controlled in this manner move at slow speeds with unnecessary vibrations. Any significant performance gain in this and other areas of robot arm control require the consideration of more efficient dynamic models, sophisticated control approaches, and the use of dedicated computer architectures and parallel processing techniques.
In the industrial production and other fields, people often endangered by such factors as high temperature, corrode, poisonous gas, and so forth at work, which have increased labor intensity and even jeopardized the life sometimes. The corresponding problems are solved since the robot arm comes out. The robot arm can catch, put and carry objects, and its movements are flexible and diversified. It applies to medium and small-scale automated production in which production varieties can be switched. And it is widely used on soft automatic line. The robot arms are generally made by withstand high temperatures, resist corrosion of materials to adapt to the harsh environment. So they reduced the labor intensity of the workers significantly and raised work efficiency. The robot arm is an important component of industrial robots, and it can be called industrial robots on many occasions. Industrial robot is set machinery, electronic, control, computers, sensors, artificial intelligence and other advanced technologies in the integration of multidisciplinary important modern manufacturing equipment. Widely using industrial robots, not only can improve product quality and production, but also is of great significance for physical security protection, improvement of the environment foe labor, reducing labor intensity, improvement of labor productivity, raw material consumption savings and lowing production costs.
機器人
機器人是典型的機電一體化裝置，它綜合運用了機械與精密機械、微電子與計算機、自動控制與驅(qū)動、傳感器與信息處理以及人工智能等多學(xué)科的最新研究成果，隨著經(jīng)濟的發(fā)展和各行各業(yè)對自動化程度要求的提高，機器人技術(shù)得到了迅速發(fā)展，出現(xiàn)了各種各樣的機器人產(chǎn)品?，F(xiàn)代工業(yè)機器人實人類真正的奇跡工程。一個象人那么大的機器人可以輕松地抬起超過一百磅并可以在誤差±0.0006英寸范圍內(nèi)重復(fù)的移動。更重要的是這些機器人可以每天24小時永不停止地工作。在許多應(yīng)用中（特別是在自動工業(yè)中）它們是通過編程控制的，但是它們一旦編程一次，它們可以重復(fù)地做同一工作許多年機器人產(chǎn)品的實用化，既解決了許多單靠人力難以解決的實際問題，又促進了工業(yè)自動化的進程。目前，由于機器人的研制和開發(fā)涉及多方面的技術(shù)，系統(tǒng)結(jié)構(gòu)復(fù)雜，開發(fā)和研制的成本普遍較高，在某種程度上限制了該項技術(shù)的廣泛應(yīng)用，因此，研制經(jīng)濟型、實用化、高可靠性機器人系統(tǒng)具有廣泛的社會現(xiàn)實意義和經(jīng)濟價值.
由于我國經(jīng)濟建設(shè)和城市化的快速發(fā)展，城市污水排放量增長很快，污水處理己經(jīng)擺在了人們的議事日程上來。隨著科學(xué)技術(shù)的發(fā)展和人類知識水平的提高，人們越來越認識到污水處理的重要性和迫切性，科學(xué)家和研究人員發(fā)現(xiàn)塑料制品在水中是用于污水處理的很有效的污泥菌群的附著體。塑料制品的大量需求，使得塑料制品生產(chǎn)的自動化和高效率要求成為經(jīng)濟發(fā)展的必然.
本文結(jié)合塑料一次擠出成型機和塑料抓取機械手的研制過程中出現(xiàn)的問題，綜述近兒年機器人技術(shù)研究和發(fā)展的狀況，在充分發(fā)揮機、電、軟、硬件各自特點和優(yōu)勢互補的基礎(chǔ)上，對物料抓取機械手整體機械結(jié)構(gòu)、傳動系統(tǒng)、驅(qū)動裝置和控制系統(tǒng)進行了分析和設(shè)計，提出了一套經(jīng)濟型設(shè)計方案。采用直角坐標和關(guān)節(jié)坐標相結(jié)合的框架式機械結(jié)構(gòu)形式，這種方式能夠提高系統(tǒng)的穩(wěn)定性和操作靈活性。傳動裝置的作用是將驅(qū)動元件的動力傳遞給機器人機械手相應(yīng)的執(zhí)行機構(gòu)，以實現(xiàn)各種必要的運動，傳動方式上采用結(jié)構(gòu)緊湊、傳動比大的蝸輪蝸桿傳動和將旋轉(zhuǎn)運動轉(zhuǎn)換為直線運動的螺旋傳動。機械手驅(qū)動系統(tǒng)的設(shè)計往往受到作業(yè)環(huán)境條件的限制，同時也要考慮價格因素的影響以及能夠達到的技術(shù)水平。由于步進電機能夠直接接收數(shù)字量，響應(yīng)速度快而且工作可靠并無累積誤差，常用作數(shù)字控制系統(tǒng)驅(qū)動機構(gòu)的動力元件，因此，在驅(qū)動裝置中采用由步進電機構(gòu)成的開環(huán)控制方式，這種方式既能滿足控制精度的要求，又能達到經(jīng)濟性、實用化目的，在此基礎(chǔ)上，對步進電機的功率計一算及選型問題經(jīng)行了分析。
在完成機械結(jié)構(gòu)和驅(qū)動系統(tǒng)設(shè)計的基礎(chǔ)上，對物料抓取機械手運動學(xué)和動力學(xué)進行了分析。運動學(xué)分析是路徑規(guī)劃和軌跡控制的基礎(chǔ)，對操作臂進行了運動學(xué)正、逆問題的分析可以完成操作空間位置和速度向驅(qū)動空間的映射，采用齊次坐標變換法得到了操作臂末端位置和姿態(tài)隨關(guān)節(jié)夾角之間的變換關(guān)系，采用幾何法分析了操作臂的逆向運動學(xué)方程求解問題，對控制系統(tǒng)設(shè)計提供了理論依據(jù)。機器人動力學(xué)是研究物體的運動和作用力之間的關(guān)系的科學(xué)，研究的目的是為了滿足是實時性控制的需要，本文采用牛頓-歐拉方法對物料抓取機械手動力學(xué)進行了分析，計算出了關(guān)節(jié)力和關(guān)節(jié)力矩，為步進電機的選型和動力學(xué)分析與結(jié)構(gòu)優(yōu)化提供理論依據(jù)。
控制部分是整個物料抓取機械手系統(tǒng)設(shè)計關(guān)鍵和核心，它在結(jié)構(gòu)和功能上的劃分和實現(xiàn)直接關(guān)系到機器人系統(tǒng)的可靠性、實用性，也影響和制約機械手系統(tǒng)的研制成本和開發(fā)周期。在控制主機的選用上，采用結(jié)構(gòu)緊湊、擴展功能強和可靠性高的PC工業(yè)控制計算機作為主機，配以PCL-839卡主要承擔系統(tǒng)功能初始化、數(shù)據(jù)運算與處理、步進電機驅(qū)動以及故障診斷等功能;同時對PCL-839卡的結(jié)構(gòu)特點、功能原理和其高定位功能等給與了分析。硬件是整個控制系統(tǒng)以及極限位置功能賴以存在的物質(zhì)基礎(chǔ)，軟件則是計算機控制系統(tǒng)的神經(jīng)中樞，軟件設(shè)計的目的是以最優(yōu)的方式將各部分功能有機的結(jié)合起來，使系統(tǒng)具有較高的運行效率和較強的可靠性。在物料抓取機械手軟件的設(shè)計上，采用的是模塊化結(jié)構(gòu)，分為系統(tǒng)初始化模塊、數(shù)據(jù)處理模塊和故障狀態(tài)檢測與處理等幾部分。主控計算機和各控制單元之間全部由PCL-839卡聯(lián)系，并且由該卡實現(xiàn)抗干擾等問題，減少外部信號對系統(tǒng)的影響。
步進電機的啟停頻率遠遠小于其最高運行頻率，為了提高工作效率，需要步進電機高速運行并快速啟停時，必須考慮它的升，降速控制問題。電機的升降速控制可以歸結(jié)為以某種合理的力一式控制發(fā)送到步進電機驅(qū)動器的脈沖頻率，這可由硬件實現(xiàn)，也可由軟件方法來實現(xiàn)。本文提出了一種算法簡單、易于實現(xiàn)、理論意義明確的步進電機變速控制策略:定時器常量修改變速控制方案。該方法能使步進電機加速度與其力矩——頻率曲線較好地擬合，從而提高變速效率。而且它的計算量比線性加速度變速和基于指數(shù)規(guī)律加速度的變速控制小得多。通過實驗證明了該方法的有效性。最后，對論文主要研究內(nèi)容和取得的技術(shù)成果進行了總結(jié)，提出了存在的問題和不足，同時對機器人技術(shù)的發(fā)展和應(yīng)用進行了展望。
研究機械手控制的目的是保持以計算機為基礎(chǔ)機械手的動態(tài)響應(yīng)，以便與一些預(yù)先設(shè)定的系統(tǒng)性能和理想目標保持一致。一般情況下，機械手的動態(tài)性能直接依賴于控制算法的效率和機械手的動態(tài)模型?？刂茊栴}包括獲得自然的機械手系統(tǒng)的動態(tài)模型，然后指定相應(yīng)的控制規(guī)則或步驟以達到想要的系統(tǒng)響應(yīng)和性能。
目前的工業(yè)機械臂控制將每一個機械臂的聯(lián)合看做一個簡單的聯(lián)合伺服。伺服方法能充分地模仿不同的動力學(xué)機械手，因為它忽略了機械手整體的運動和配置。這些控制系統(tǒng)的參數(shù)的變化有時是足夠重要的，以至于使常規(guī)的反饋控制方法失效。其結(jié)果是減少了伺服響應(yīng)的速度和阻尼，限制了精度和最后的反應(yīng)速度，使系統(tǒng)僅適用于有限精度的工作。機械手以這種方式控制速度而降低不必要的震顫。任何在這一領(lǐng)域和其他領(lǐng)域的機械臂性能增益要求更有效率的動態(tài)模型、精密的控制方法、專門的計算機的結(jié)構(gòu)和并行處理技術(shù)。
在工業(yè)生產(chǎn)和其它領(lǐng)域內(nèi)，由于工作的需要，人們經(jīng)常受到高溫、腐蝕及有毒氣體等因素的危害，增加了工人的勞動強度，甚至于危及生命。自從機械手問世以來，相應(yīng)的各種難題迎刃而解。機械手可在空間抓、放、搬運物體，動作靈活多樣，適用于可變換生產(chǎn)品種的中、小批量自動化生產(chǎn)，廣泛應(yīng)用于柔性自動線。機械手一般由耐高溫、抗腐蝕的材料制成，以適應(yīng)現(xiàn)場惡劣的環(huán)境，大大降低工人的勞動強度，提高工作效率。機械手是工業(yè)機器人的重要組成部分，在很多情況下它就可以稱為工業(yè)機器人。工業(yè)機器人是集機械、電子、控制、計算機、傳感器、人工智能等多學(xué)科先進技術(shù)于一體的現(xiàn)代制造業(yè)重要的自動化裝備。廣泛采用工業(yè)機器人，不僅可以提高產(chǎn)品的質(zhì)量與產(chǎn)量，而且對保障人身安全，改善勞動環(huán)境，減輕勞動強度，提高勞動生產(chǎn)率，節(jié)約原材料消耗以及降低生產(chǎn)成本，有著十分重要的意義。