【正文】 編號： 畢業(yè)設(shè)計 (論文 )說明書 題 目： 基于單片機(jī)的機(jī)械手運動 控制設(shè)計 學(xué) 院： 機(jī)電工程學(xué)院 專 業(yè)： 機(jī)械電子工程 學(xué)生姓名： 學(xué) 號： 指導(dǎo)教師單位 ： 機(jī)電工程學(xué)院 姓 名： 職 稱： 題目類 型 ： ?理論研究 ?實驗研究 ?工程設(shè)計 ?工程技術(shù)研究 ?軟件開 發(fā) 2021 年 5 月 20 日 摘 要 機(jī)械手是近幾十年發(fā)展起來的一種高科技自動生產(chǎn)設(shè)備。工業(yè)機(jī)械手也是工業(yè)機(jī)器人的一個重要分支。它的特點是可以通過編程來完成各種預(yù)期的作業(yè)，在構(gòu)造和性能上兼有人和機(jī)器各自的優(yōu)點，尤其體現(xiàn)在人的智能和適應(yīng)性。機(jī)械手作業(yè)的準(zhǔn)確性和環(huán)境中完成作業(yè)的能力，在國民經(jīng)濟(jì)領(lǐng)域有著廣泛的發(fā)展空間。 機(jī)械手的結(jié)構(gòu)形式開始比較簡單，專用性較強(qiáng)。隨著工業(yè)技術(shù)的發(fā)展，制成了能夠獨立的按程序控制實現(xiàn)重復(fù)操作，適用范圍比較廣的“程 序控制通用機(jī)械手”，簡稱通用機(jī)械手。由于通用機(jī)械手能很快的改變工作程序，適應(yīng)性較強(qiáng)，所以它在不斷變換生產(chǎn)品種的中小批量生產(chǎn)中獲得廣泛的引用。 機(jī)械手技術(shù)涉及到電子、機(jī)械學(xué)、自動控制技術(shù)、傳感器技術(shù)和計算機(jī)技術(shù)等科學(xué)領(lǐng)域，是一門跨學(xué)科綜合技術(shù)。隨著工業(yè)自動化發(fā)展的需要，機(jī)械手在工業(yè)應(yīng)用中越來越重要。 本設(shè)計以 AT89C51 單片機(jī)為核心，采用 L298 電機(jī)控制芯片達(dá)到控制直流電機(jī)的啟停、速度和方向，完成了機(jī)械手基本要求和發(fā)揮部分的要求。在機(jī)械手設(shè)計中，采用了 PWM 技術(shù)對電機(jī)進(jìn)行控制，通過對占空比的計算達(dá)到 精確調(diào)速的目的。 關(guān)鍵詞 ：機(jī)械手； AT89C51 單片機(jī)； L298 電機(jī)控制芯片；電機(jī)控制。 Abstract A robot is developed in recent decades a hightech automated production equipment. Industrial robots is an important branch of industrial robots. It features can be programmed to perform a variety of jobs expected in the structure and performance of the respective merits of both people and machines, particularly evident in human intelligence and adaptability. The accuracy of manipulators and the environment39。s ability to plete the job in the field of the national economy has a broad space for development. Starting the robot structure is relatively simple, highly the development of industrial technology, made by program control can be achieved independent of repeated operations, and broad scope of the Program Control Universal Manipulator,referred universal generic robot can quickly change the working procedures, adaptability, so it is constantly changing variety of small batch production to obtain a wide range of references. Robotic technologies related to electronics, mechanics, automatic control technology, sensor technology and puter technology and other scientific fields, is a multidisciplinary integrated technology. With the needs of the development of industrial automation, robots and more important in industrial applications. The design AT89C51 microcontroller as the core, using L298 motor control chip to control the DC motor start and stop, speed and direction, pleting the basic requirements and Manipulator play a part the Manipulator design, using a PWM motor control technology, through the calculation of the duty cycle to achieve accurate speed control purposes. Keywords:Manipulator。AT89C51 microcontroller。L298 motor control chip。Motor Control. 目 錄 引言 .................................................. 1 1 緒論 ................................................................................................ 3 機(jī)械手概述 ............................................................................................................. 3 機(jī)械手的當(dāng)代應(yīng)用 ............................................................................................... 4 機(jī)械手工作方式 ................................................................................................... 4 機(jī)械手的分類 ....................................................................................................... 4 機(jī)械手的一般組成 ................................................................................................. 4 2 任務(wù)要 求與總體設(shè)計方案 .............................................................. 6 設(shè)計任務(wù)與要求 ..................................................................................................... 6 總體設(shè)計方案 ......................................................................................................... 6 基本設(shè)計思路 ......................................................................................................... 6 CPU......................................................................................................................... 6 傳動機(jī)構(gòu) ............................................................................................................... 6 機(jī)械手組成 ........................................................................................................... 7 抓取機(jī)構(gòu) ............................................................................................................... 9 機(jī)械手的驅(qū)動方式 ............................................................................................... 9 設(shè)計方案的總結(jié) ................................................................................................... 11 CPU 的選擇 ........................................................................................................ 11 機(jī)械手坐標(biāo)形式的選擇 ..................................................................................... 11 傳動機(jī)構(gòu)的選擇 ................................................................................................. 11 驅(qū)動方式的選擇 ................................................................................................. 11 電機(jī)類型的選擇 ................................................................................................. 11 3 機(jī)械手結(jié)構(gòu)設(shè)計 ........................................................................... 13 機(jī)械手尺寸的確定 ............................................................................................... 13 傳動部分設(shè)計 ....................................................................................................... 13 機(jī)械手結(jié)構(gòu)部分總結(jié) ........................................................................................... 13 4 硬件電路部分設(shè)計 ....................................................................... 13 單片機(jī)的選擇 ....................................................................................................... 13 單片機(jī)的簡介 ..................................................................................................... 14 89C51 簡介 ...................................................