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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(jì)（論文）登記表
分院
機(jī)電工程分院
專業(yè)
機(jī)械設(shè)計(jì)制造及其自動化
班級
學(xué)生姓名
指導(dǎo)教師
設(shè)計(jì)（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(jī)械手驅(qū)動系統(tǒng)設(shè)計(jì)
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(shí)（10Kg），低速時(shí)（15Kg） 定位方式：可調(diào)機(jī)械板塊
自由度數(shù)：4個(gè) 定位精度：0.5mm
坐標(biāo)形式：圓柱坐標(biāo) 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(bào)告（設(shè)計(jì)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(xiàn)資料情況（列出主要文獻(xiàn)清單）；4、擬采取的研究路線；5、進(jìn)度安排。
1、本課題研究的意義：
本課題是利用所學(xué)過的機(jī)械設(shè)計(jì)及其相關(guān)的理論知識來設(shè)計(jì)機(jī)械手的驅(qū)動系統(tǒng)，通過對機(jī)器人及機(jī)械手的組成及工作原理的了解以及設(shè)計(jì)方法的掌握，并查閱大量資料，以達(dá)到對機(jī)械手的驅(qū)動系統(tǒng)設(shè)計(jì)，并掌握機(jī)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(jī)械手的動畫圖片及有關(guān)文獻(xiàn)，對機(jī)械手驅(qū)動系統(tǒng)設(shè)計(jì)的功能原理及結(jié)構(gòu)有了直觀的了解，使我們的設(shè)計(jì)思路得到了很大啟發(fā)，并對我們設(shè)計(jì)過程當(dāng)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(jì)是至關(guān)重要的。
3、參考文獻(xiàn)
[1].宋文騏 萬廣珉 機(jī)械手的基本知識 云南： 昆明理工大學(xué)學(xué)報(bào) 2006年 [8]工業(yè)機(jī)械手圖冊編寫組編.工業(yè)機(jī)械手圖冊.北京：機(jī)械工業(yè)出版社，1978 年
[2] 劉祚時(shí) 吳翠琴 機(jī)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(jī)械設(shè)計(jì)手冊第五卷.北京：機(jī)械工業(yè)出版社，1992
[3] 董林福等 氣動元件與系統(tǒng)實(shí)圖 北京：化學(xué)工業(yè)出版社 2000年 [10].陸祥生等編.機(jī)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(jī)械系統(tǒng)計(jì)算機(jī)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(jī)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(jī)械人的結(jié)構(gòu)與應(yīng)用.北京：機(jī)械工業(yè)出版社1997
[6]天津大學(xué)編.工業(yè)機(jī)械手設(shè)計(jì)基礎(chǔ).天津：天津人民出版社，1980 [13] —機(jī)部情報(bào)所編.國外工業(yè)機(jī)械手參考資料.重慶：科學(xué)技術(shù)文獻(xiàn)出版社重慶分社1980
[7] .張建民編著.工業(yè)機(jī)器人.北京：北京理工大學(xué)出版社，1988 [14] .吳旭朝編.工業(yè)機(jī)械手設(shè)計(jì)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(dá)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(jī)械手及機(jī)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(zhǔn)備答辯
5、 進(jìn)度安排：
3月 8日—3月 14日 調(diào)研、查閱文獻(xiàn)及書籍、翻譯英文材料。
3月 15日—3月 21日 撰寫開題報(bào)告。
3月 22日—4月 11日 進(jìn)行功能原理設(shè)計(jì)。
4月 12日—5月 2日 進(jìn)行結(jié)構(gòu)設(shè)計(jì)。
5月 3日—5月 30日 CAD畫圖。
5月 31日—6月 18日 整理設(shè)計(jì)說明書、準(zhǔn)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(jī)器人
機(jī)器人是典型的機(jī)電一體化裝置，它綜合運(yùn)用了機(jī)械與精密機(jī)械、微電子與計(jì)算機(jī)、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(jì)的發(fā)展和各行各業(yè)對自動化程度要求的提高，機(jī)器人技術(shù)得到了迅速發(fā)展，出現(xiàn)了各種各樣的機(jī)器人產(chǎn)品。現(xiàn)代工業(yè)機(jī)器人實(shí)人類真正的奇跡工程。一個(gè)象人那么大的機(jī)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(jī)器人可以每天24小時(shí)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(jī)器人產(chǎn)品的實(shí)用化，既解決了許多單靠人力難以解決的實(shí)際問題，又促進(jìn)了工業(yè)自動化的進(jìn)程。目前，由于機(jī)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(xiàng)技術(shù)的廣泛應(yīng)用，因此，研制經(jīng)濟(jì)型、實(shí)用化、高可靠性機(jī)器人系統(tǒng)具有廣泛的社會現(xiàn)實(shí)意義和經(jīng)濟(jì)價(jià)值.
由于我國經(jīng)濟(jì)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(rèn)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(jì)發(fā)展的必然.
本文結(jié)合塑料一次擠出成型機(jī)和塑料抓取機(jī)械手的研制過程中出現(xiàn)的問題，綜述近兒年機(jī)器人技術(shù)研究和發(fā)展的狀況，在充分發(fā)揮機(jī)、電、軟、硬件各自特點(diǎn)和優(yōu)勢互補(bǔ)的基礎(chǔ)上，對物料抓取機(jī)械手整體機(jī)械結(jié)構(gòu)、傳動系統(tǒng)、驅(qū)動裝置和控制系統(tǒng)進(jìn)行了分析和設(shè)計(jì)，提出了一套經(jīng)濟(jì)型設(shè)計(jì)方案。采用直角坐標(biāo)和關(guān)節(jié)坐標(biāo)相結(jié)合的框架式機(jī)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(jī)器人機(jī)械手相應(yīng)的執(zhí)行機(jī)構(gòu)，以實(shí)現(xiàn)各種必要的運(yùn)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(yùn)動轉(zhuǎn)換為直線運(yùn)動的螺旋傳動。機(jī)械手驅(qū)動系統(tǒng)的設(shè)計(jì)往往受到作業(yè)環(huán)境條件的限制，同時(shí)也要考慮價(jià)格因素的影響以及能夠達(dá)到的技術(shù)水平。由于步進(jìn)電機(jī)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(jī)構(gòu)的動力元件，因此，在驅(qū)動裝置中采用由步進(jìn)電機(jī)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(dá)到經(jīng)濟(jì)性、實(shí)用化目的，在此基礎(chǔ)上，對步進(jìn)電機(jī)的功率計(jì)一算及選型問題經(jīng)行了分析。
在完成機(jī)械結(jié)構(gòu)和驅(qū)動系統(tǒng)設(shè)計(jì)的基礎(chǔ)上，對物料抓取機(jī)械手運(yùn)動學(xué)和動力學(xué)進(jìn)行了分析。運(yùn)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(jìn)行了運(yùn)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(biāo)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(yùn)動學(xué)方程求解問題，對控制系統(tǒng)設(shè)計(jì)提供了理論依據(jù)。機(jī)器人動力學(xué)是研究物體的運(yùn)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(shí)時(shí)性控制的需要，本文采用牛頓-歐拉方法對物料抓取機(jī)械手動力學(xué)進(jìn)行了分析，計(jì)算出了關(guān)節(jié)力和關(guān)節(jié)力矩，為步進(jìn)電機(jī)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(gè)物料抓取機(jī)械手系統(tǒng)設(shè)計(jì)關(guān)鍵和核心，它在結(jié)構(gòu)和功能上的劃分和實(shí)現(xiàn)直接關(guān)系到機(jī)器人系統(tǒng)的可靠性、實(shí)用性，也影響和制約機(jī)械手系統(tǒng)的研制成本和開發(fā)周期。在控制主機(jī)的選用上，采用結(jié)構(gòu)緊湊、擴(kuò)展功能強(qiáng)和可靠性高的PC工業(yè)控制計(jì)算機(jī)作為主機(jī)，配以PCL-839卡主要承擔(dān)系統(tǒng)功能初始化、數(shù)據(jù)運(yùn)算與處理、步進(jìn)電機(jī)驅(qū)動以及故障診斷等功能;同時(shí)對PCL-839卡的結(jié)構(gòu)特點(diǎn)、功能原理和其高定位功能等給與了分析。硬件是整個(gè)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(jì)算機(jī)控制系統(tǒng)的神經(jīng)中樞，軟件設(shè)計(jì)的目的是以最優(yōu)的方式將各部分功能有機(jī)的結(jié)合起來，使系統(tǒng)具有較高的運(yùn)行效率和較強(qiáng)的可靠性。在物料抓取機(jī)械手軟件的設(shè)計(jì)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(jì)算機(jī)和各控制單元之間全部由PCL-839卡聯(lián)系，并且由該卡實(shí)現(xiàn)抗干擾等問題，減少外部信號對系統(tǒng)的影響。
步進(jìn)電機(jī)的啟停頻率遠(yuǎn)遠(yuǎn)小于其最高運(yùn)行頻率，為了提高工作效率，需要步進(jìn)電機(jī)高速運(yùn)行并快速啟停時(shí)，必須考慮它的升，降速控制問題。電機(jī)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(jìn)電機(jī)驅(qū)動器的脈沖頻率，這可由硬件實(shí)現(xiàn)，也可由軟件方法來實(shí)現(xiàn)。本文提出了一種算法簡單、易于實(shí)現(xiàn)、理論意義明確的步進(jìn)電機(jī)變速控制策略:定時(shí)器常量修改變速控制方案。該方法能使步進(jìn)電機(jī)加速度與其力矩——頻率曲線較好地?cái)M合，從而提高變速效率。而且它的計(jì)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(shí)驗(yàn)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(jìn)行了總結(jié)，提出了存在的問題和不足，同時(shí)對機(jī)器人技術(shù)的發(fā)展和應(yīng)用進(jìn)行了展望。
研究機(jī)械手控制的目的是保持以計(jì)算機(jī)為基礎(chǔ)機(jī)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(biāo)保持一致。一般情況下，機(jī)械手的動態(tài)性能直接依賴于控制算法的效率和機(jī)械手的動態(tài)模型。控制問題包括獲得自然的機(jī)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(dá)到想要的系統(tǒng)響應(yīng)和性能。
目前的工業(yè)機(jī)械臂控制將每一個(gè)機(jī)械臂的聯(lián)合看做一個(gè)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(jī)械手，因?yàn)樗雎粤藱C(jī)械手整體的運(yùn)動和配置。這些控制系統(tǒng)的參數(shù)的變化有時(shí)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(jī)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(jī)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(jì)算機(jī)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(qiáng)度，甚至于危及生命。自從機(jī)械手問世以來，相應(yīng)的各種難題迎刃而解。機(jī)械手可在空間抓、放、搬運(yùn)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(jī)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(qiáng)度，提高工作效率。機(jī)械手是工業(yè)機(jī)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(jī)器人。工業(yè)機(jī)器人是集機(jī)械、電子、控制、計(jì)算機(jī)、傳感器、人工智能等多學(xué)科先進(jìn)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(jī)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(qiáng)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。