机器人手臂的机械结构和机电设置

机器人手臂的机械结构和机电设置 【摘 要】机器人学是一门边缘学科，它涉及电子精密机械、空间机构学、操纵 动力学、人机工程学等的一门系统工程。本人在已有的机器人手臂的机械结构和 机电设计的基础上，基于Motorola 公司的DSP56805单片机及PC机设计并实现 了机器人臂部多关节控制系统。 设计以MOTOROLA公司生产DSP56805单片机为核心，设计了机器人臂部关节控制 节点的硬件电路，并在此基础上利用C语言编制了机器人臂部关节的DSP控制程 序，控制算法中采用了经典的PID控制算法，中采用了一种用Matlab模拟 仿真来近似确定PID控制参数(Kp、Ki、Kd)的方法。 最后进行了系统程序、硬件仿真调试，结果表明:系统的软、硬件设计合理可行。 所以机器人设计是符合要求的。 关键词:控制节点、PID控制算法、PID控制参数、DSP56805、Matlab、VC 6.0 Title: Robotic Arms Intelligent Control System Abstract The robotics is an edge course, it involves the precise machine, the space organization, manipulated the dynamics, person with machine engineering learns a system engineering of etc.. On given foundation of an electric shock the design at the machine structure and machines of the robotic arms ,I have been up and carried out a many joints of the robotic arms control system also according to a singlechip of DSP56805 and the PC machine designs of the company of Motorola. The design of thesis’nuclere isthe Motorola company produces a singlechip of DSP56805, designed a joint of the robot arm to control the hardware telephone of the nodal point, and make use of the DSP control procedure that the C language drew up a joint of the robot arm on this foundation, adopting the PID control calculate way of the classic in the control calculate way, adopting in the thesis a kind of with the method that the analog simulation of Matlab looks like the certain PID control parameter( Kp, Ki, Kd). Carried on the debugging of the system procedure and the hardware simulation finally, the result show:This design about system of the software and the hardware don’t only go,but also is reasonable.So the robotic design meets the request. Keywords: Control the nodal point, the PID control calculate way, PID control parameter, DSP56805、Matlab、VC 6.0 目 录 1绪论 „„„„„„„„„„„„„„„„„„„„„„„„1 1.1项目背景及意义„„„„„„„„„„„„„„„„„„„„„„„„„1 1.2 方案论证„„„„„„„„„„„„„„„„„„„„„„„„„„„„2 2 机器人的机械结构介绍„„„„„„„„„„„„„„„„3 2.1机器人的一般神经网络结构图„„„„„„„„„„„„„„„„„„„3 2.2机器人的臂部机械结构„„„„„„„„„„„„„„„„„„„„„„4 2.3机器人的臂部关节电机分布图„„„„„„„„„„„„„„„„„„„4 2.4 小结„„„„„„„„„„„„„„„„„„„„„„„„„„„„„„5 3 PID算法介绍及位置控制算法„„„„„„„„„„„„„6 3.1 PID算法简介„„„„„„„„„„„„„„„„„„„„„„„„„„6 3.1.1比例运算放大电路„„„„„„„„„„„„„„„„„„„„„„„6 3.1.2积分运算电路„„„„„„„„„„„„„„„„„„„„„„„„„7 3.1.3微分电路„„„„„„„„„„„„„„„„„„„„„„„„„„„7 3.1.4 PID调节电路„„„„„„„„„„„„„„„„„„„„„„„„„7 3.2电机物理模型„„„„„„„„„„„„„„„„„„„„„„„„„„8 3.3实际电机的开环阶跃响应„„„„„„„„„„„„„„„„„„„„„9 3.4开环系统模拟仿真 „„„„„„„„„„„„„„„„„„„„„„„17 3.5闭环比例控制模拟仿真 „„„„„„„„„„„„„„„„„„„„„18 3.6闭环比例微分控制模拟仿真 „„„„„„„„„„„„„„„„„„„20 3.7闭环比例微分积分控制模拟仿真 „„„„„„„„„„„„„„„„„22 3.8 PWM简介„„„„„„„„„„„„„„„„„„„„„„„„„„„„25 3.9本章小结 „„„„„„„„„„„„„„„„„„„„„„„„„„„25 4智能机器人手臂设计硬件电路图设计„„„„„„„„„„26 4.1拟人机器人臂部电机及电机驱动电路 „„„„„„„„„„„„„„„26 4.2驱动电路的功能介绍说明 „„„„„„„„„„„„„„„„„„„„27 4.2.1 MC33035无刷直流电机控制器概述„„„„„„„„„„„„„„„„27 4.2.2 MC33035無刷直流電机控制器的工作原理„„„„„„„„„„„„„29 4.2.3 MC33039电子测速器概述„„„„„„„„„„„„„„„„„„„„30 4.2.4 MC33039电子测速器的工作原理„„„„„„„„„„„„„„„„„31 4.2.5 三相全波六步无刷直流电动机闭环速度控制电路 „„„„„„„„„31 4.3臂部节点硬件电路分析 „„„„„„„„„„„„„„„„„„„„„32 4.4 臂部节点硬件资源分配 „„„„„„„„„„„„„„„„„„„„„33 4.5臂部节点电路设计 „„„„„„„„„„„„„„„„„„„„„„„36 4.5.1电源电路设计 „„„„„„„„„„„„„„„„„„„„„„„„36 4.5.2滤波电路、时钟电路、复位电路设计 „„„„„„„„„„„„„„„38 4.5.3 DSP接口电路设计„„„„„„„„„„„„„„„„„„„„„„„38 4.5.4 电机控制接口电路设计 „„„„„„„„„„„„„„„„„„„„41 4.6 本章小结 „„„„„„„„„„„„„„„„„„„„„„„„„„„42 5拟人机器人机器人臂部关节节点软件设计 „„„„„„43 5.1 臂部节点软件功能概述 „„„„„„„„„„„„„„„„„„„„„43 5.2 臂部节点软件 „„„„„„„„„„„„„„„„„„„„„„„43 5.2.1初始化模块 „„„„„„„„„„„„„„„„„„„„„„„„„44 5.2.2主循环模块 „„„„„„„„„„„„„„„„„„„„„„„„„45 5.2.3控制曲线规划模块 „„„„„„„„„„„„„„„„„„„„„„46 5.2.4 PID模块„„„„„„„„„„„„„„„„„„„„„„„„„„„48 5.3 臂部节点软件编程 „„„„„„„„„„„„„„„„„„„„„„„50 5.3.1 静态配置 „„„„„„„„„„„„„„„„„„„„„„„„„„50 5.3.2 IO端口操作„„„„„„„„„„„„„„„„„„„„„„„„„51 5.3.3 中断服务程序 „„„„„„„„„„„„„„„„„„„„„„„„52 5.4本章小结 „„„„„„„„„„„„„„„„„„„„„„„„„„„52 致 谢 „„„„„„„„„„„„„„„„„„„„„„„„„„„„„53 参考文献„„„„„„„„„„„„„„„„„„„„„„„„„„„„54 附录A„„„„„„„„„„„„„„„„„„„„„„„„55 附录B„„„„„„„„„„„„„„„„„„„„„„„„56 附录C„„„„„„„„„„„„„„„„„„„„„„„„65 第一章 绪论 1.1项目背景及意义 机器人是上个世纪中叶迅速发展起来的高新技术密集的机电一体化产品，在发达国家，工业机器人已经得到广泛应用。随着科学技术的发展，机器人的应用范围也日益扩大，遍及工业、国防、宇宙空间、海洋开发、医疗健康等领域。浸入21世纪，人们已经愈来愈亲身感受到机器人深入产业、深入生活、深入社会的坚实步伐。拟人机器人(HumanoidRobot)更是先进机器人技术的高级发展阶段，它综合体现了高级机器人的机构学、运动与动力学、现代设计理论、信息检测和感知、微电子学、控制理论等诸多方面的研究和发展水平，是一个复杂的综合系统。它涉及多种学科的内容。下图1-1为下载的拟人机器人的雏形。 机器人的核心是控制系统。机器人的先进性和功能的强弱通常都直接与其控制系统的性能有关。手臂是拟人机器人的重要执行机构，在整个拟人机器人中起着重要的作用。单独的手臂本身也是一个机器人，如目前应用非常普遍的工业六轴机器人实质就是一个拟人的手臂。如果不考虑手臂与其他部分的协调问题，本论文中的控制对象就是一个工业六轴机器人。 1.2 方案论证 机器人系统有许多控制方法。例如PID，模糊控制，自适应控制等。模糊控制和 自适应控制的精度很高。是现代控制领域中应用广泛的控制方法，尤其是在军工领域和航天领域中。PID控制是最基本的控制方法。它的控制方法与前两种相比不高。但在要求不高的情况下大多采用PID控制算法。在大多数领域中一般可将几种控制方法结合使用，达到性能价格的最优组合。由于本次设计所做机器人的要求不高，并且工作环境也是在正常环境中，所以本文的设计思路也是采用经典控制理论中的PID控制。PID控制有很强的实用性。它对系统的调节即可达到快速敏捷，又可达到平稳准确，只要三项作用的强度配合适当，便可得到满意的调节效果。 本设计采用的PID控制为转速、电流双闭环调速系统。大部分的电机控制调速系统大多采用这种方式。首先它运行稳定。外环控制转速，转速调节的作用时对转速的抗干扰调节并使之在稳态时无静差，其输出限幅值决定允许的最大电流;在内环控制电流，电流调节器的作用是电流跟随，过流自动保护和及时抑制电压第二章机器人的机械结构分析 2.1机器人的一般神经网络结构图 机器人是一个高度协调的系统，其完成的每一个动作都是整个系统中所有元素配合工作的结果。它的身上有很多电机和传感器，这些电机和传感器在底层由本文所设计的控制节点控制着，但是孤立的节点是没有意义的，必须要将机器人身上所有的节点连接起来构成一个控制网络，使得所有的节点都在机器人的“大脑”的统一支配下。这样一个网络好比人身体里的神经，将大脑的指令传达给“肌肉”，同时将感觉到的信息送给大脑。在这样一个体系下，每个节点必须实时和上位机打交道，获取指令，上传数据，这样对通讯就有了速度和可靠性的要求，大多数机器人设计选择了CAN总线作为全身的神经系统。 第二章机器人的机械结构分析 2.1机器人的一般神经网络结构图 机器人是一个高度协调的系统，其完成的每一个动作都是整个系统中所有元素配合工作的结果。它的身上有很多电机和传感器，这些电机和传感器在底层由本文所设计的控制节点控制着，但是孤立的节点是没有意义的，必须要将机器人身上所有的节点连接起来构成一个控制网络，使得所有的节点都在机器人的“大脑”的统一支配下。这样一个网络好比人身体里的神经，将大脑的指令传达给“肌肉”，同时将感觉到的信息送给大脑。在这样一个体系下，每个节点必须实时和上位机打交道，获取指令，上传数据，这样对通讯协议就有了速度和可靠性的要求，大多数机器人设计选择了CAN总线作为全身的神经系统。 2.2机器人的臂部机械结构 本设计只是采用它的臂部设计。仿照人类胳膊真实的运动结构，拟人机器人臂部采用了三关节型机械结构。它的每条手臂包括肩、肘、腕三个关节，每个关节上 都有一个摆动自由度和一个转动自由度 第十三章:干燥 通过本章的学习，应熟练掌握表示湿空气性质的参数，正确应用空气的H–I图确定空气的状态点及其性质参数;熟练应用物料衡算及热量衡算解决干燥过程中的计算问题;了解干燥过程的平衡关系和速率特征及干燥时间的计算;了解干燥器的类型及强化干燥操作的基本方法。 二、本章思考题 1、工业上常用的去湿方法有哪几种, 态参数, 11、当湿空气的总压变化时，湿空气H–I图上的各线将如何变化? 在t、H相同的条件下，提高压力对干燥操作是否有利? 为什么? 12、作为干燥介质的湿空气为什么要先经预热后再送入干燥器, 13、采用一定湿度的热空气干燥湿物料，被除去的水分是结合水还是非结合水,为什么, 14、干燥过程分哪几种阶段,它们有什么特征, 15、什么叫临界含水量和平衡含水量, 16、干燥时间包括几个部分,怎样计算, 17、干燥哪一类物料用部分废气循环,废气的作用是什么, 18、影响干燥操作的主要因素是什么,调节、控制时应注意哪些问题, 三、例题 2o例题13-1:已知湿空气的总压为101.3kN/m ,相对湿度为50%，干球温度为20 C。试用I-H图求解: (a)水蒸汽分压p; (b)湿度,; (c)热焓，; (d)露点t ; d (e)湿球温度tw ; o(f)如将含500kg/h干空气的湿空气预热至117C，求所需热量,。 解 : 2o由已知条件:,,101.3kN/m，Ψ,50%，t=20 C在I-H图上定出湿空气00 的状态点,点。 (a)水蒸汽分压p 过预热器气所获得的热量为 每小时含500kg干空气的湿空气通过预热所获得的热量为 例题13-2:在一连续干燥器中干燥盐类结晶，每小时处理湿物料为1000kg，经干燥后物料的含水量由40%减至5%(均为湿基)，以热空气为干燥介质，初始 -1-1湿度H为0.009kg水•kg绝干气，离开干燥器时湿度H为0.039kg水•kg绝干12气，假定干燥过程中无物料损失，试求: -1(1) 水分蒸发是q (kg水•h); m,W -1(2) 空气消耗q(kg绝干气•h); m,L -1原湿空气消耗量q(kg原空气•h); m,L’ -1(3)干燥产品量q(kg•h)。 m,G2解: q=1000kg/h, w=40?, w=5% mG112H=0.009, H=0.039 12 q=q(1-w)=1000(1-0.4)=600kg/h mGCmG11 x=0.4/0.6=0.67, x=5/95=0.053 12?q=q(x-x)=600(0.67-0.053)=368.6kg/h mwmGC12 ?q(H-H)=q mL21mw q368.6mw q,,,12286.7mLH,H0.039,0.00921 q=q(1+H)=12286.7(1+0.009)=12397.3kg/h mL’mL1 ?q=q(1-w) mGCmG22 q600mGC?q,,,631.6kg/h mG21,w1,0.052