【正文】 學(xué)校代碼： 學(xué) 號(hào)： 畢業(yè)設(shè)計(jì)（論文） B ACH ELO R DIS S ERTATIO N 論文題目： 基于運(yùn)動(dòng)控制卡的兩關(guān)節(jié)機(jī)械手臂控制系 統(tǒng)設(shè)計(jì) 學(xué)位類(lèi)別： 學(xué)科專(zhuān)業(yè)： 機(jī)械設(shè)計(jì)制造及自動(dòng)化 作者姓名： 導(dǎo)師姓名： 完成時(shí)間： 基于運(yùn)動(dòng)控制卡的兩關(guān)節(jié)機(jī)械手臂控制系統(tǒng)設(shè)計(jì) 摘要 本次兩關(guān)節(jié)的機(jī)械手控制系統(tǒng)的設(shè)計(jì)，我們用控制卡來(lái)進(jìn)行設(shè)計(jì)。通過(guò)微軟公司開(kāi)發(fā)的 軟件，編制運(yùn)動(dòng)控制系統(tǒng)的控制界面，再在界面中的命令控件中進(jìn)行參數(shù)的設(shè)置、代 碼編寫(xiě)。繼而把界面程序一一導(dǎo)入到我們所用的 GT 這一系列運(yùn)動(dòng)控制卡中，通過(guò)導(dǎo)入程序后的運(yùn)動(dòng)控制卡，來(lái)進(jìn)行驅(qū)動(dòng)電機(jī)的驅(qū)動(dòng)器，繼而再通過(guò)驅(qū)動(dòng)器驅(qū)動(dòng)伺服電機(jī)，同樣地，之后就是通過(guò)伺服電機(jī)輸出軸的輸出的速度、轉(zhuǎn)矩和轉(zhuǎn)向，帶動(dòng)兩關(guān)節(jié)機(jī)械手的運(yùn)動(dòng)。這也就是說(shuō)，最后機(jī)械手的運(yùn)動(dòng)軌跡就是我們之前在控制界面中通過(guò)代碼設(shè)置的預(yù)定動(dòng)作。當(dāng)然，在本次運(yùn)動(dòng)控制系統(tǒng)中還包括其他的輔助環(huán)節(jié)，比如各個(gè)器件之間的連線等。 本文介紹的控制系統(tǒng)，這當(dāng)中最主要的部分當(dāng)然是運(yùn)動(dòng)控制卡。介紹了運(yùn)動(dòng)控制卡的硬件、接線方式、軟件構(gòu)成和里面的開(kāi)發(fā)環(huán)境、信息傳 遞與處理機(jī)制；兩關(guān)節(jié)機(jī)械手等；與此同時(shí)，本篇論文也介紹了 編程的特點(diǎn)及調(diào)用函數(shù)的方式。這次之所以基于運(yùn)動(dòng)控制卡進(jìn)行設(shè)計(jì)，那是因?yàn)檫\(yùn)動(dòng)控制卡與以前的設(shè)備比較起來(lái)，有許多優(yōu)點(diǎn)。首先，運(yùn)動(dòng)控制卡用起來(lái)不麻煩，我們要做的就是在電腦上進(jìn)行編程，對(duì)專(zhuān)業(yè)軟件要求不高；還有就是，有很多新的能力，可以實(shí)現(xiàn)各種各樣的軌跡控制；最后，它的結(jié)構(gòu)不是分散的，能用在很多場(chǎng)合，與此同時(shí)，用戶(hù)可以根據(jù)實(shí)際需要進(jìn)行擴(kuò)充。 關(guān)鍵詞：運(yùn)動(dòng)控制卡； ； 控制界面；機(jī)械手 Based on the motion control card of two joint mechanical arm control system design ABSTRACT .The two joints of the manipulator control system design, we use control card for design By Microsoft39。s software to pile the interface of the motion control system, then Set up the parameters and pile in the interface of the control design and pile codes, Then import the interface program to GT series of movement control CARDS, by importing the program to the movement control CARDS to drive the servo motor drive, then through the drive servo motor drive, in the same way, then through the output of the servo motor output shaft speed, torque and steering, driving motion platform movement. This means that in the control before the final motion platform trajectory is our interface through the reservation code is set. And, of course, in the motion control system includes other auxiliary links, such as the connection between each device, the rise and fall of pen rack, etc. This paper expounds the main content of the base principle and position of control system, which core part is the movement control CARDS, motion control card was introduced in detail the hardware, the inside of the connection mode, software position and development environment, information transmission and processing mechanism。 The position of two joints of the manipulator。 At the same time, this paper also introduces the characteristics and calling function of programming approach. The design of motion control system is based on motion control card, that39。s because the movement control CARDS pared with the traditional numerical control device, has many advantages. First of all, the movement control CARDS of easy operation, as long as the simple programming can be on the puter, does not necessarily need very professional CNC software。 Second, its function has been enhanced, can achieve a variety of trajectory control。 Finally, it is the structure of the integrated modular, strong monality, at the same time, the user can according to the actual need for expansion. KEY WORD: motion control card。 。 Control interface。 manipulator 第一章 緒論 .................................................................................................................... 1 課題背景 ............................................................................................................ 1 開(kāi)放式控制系統(tǒng) .................................................................................................. 1 設(shè)計(jì)任務(wù) ............................................................................................................ 2 設(shè)計(jì)要求 ............................................................................................................ 2 第二章 本次控制系統(tǒng)的結(jié)構(gòu)組成 ................................................................................... 3 運(yùn)動(dòng)控制系統(tǒng)簡(jiǎn)介 .............................................................................................. 3 GT 系列運(yùn)動(dòng)控制器 ......................................................................................... 5 伺服電機(jī)驅(qū)動(dòng)器 .............................................................................................. 6 伺服電機(jī) ........................................................................................................ 6 兩關(guān)節(jié)機(jī)械手 ................................................................................................. 7 安裝步驟 ............................................................................................................ 7 第三章 系統(tǒng)控制界面的制作及程序的編寫(xiě) ......................................................................10 V C++編程 .........................................................................................................10 V