【正文】 北華航天工業(yè)學(xué)院畢業(yè)論文 I 摘 要 機(jī)器人尤其是并聯(lián)機(jī)器人的設(shè)計是機(jī)器人領(lǐng)域復(fù)雜而困難的課題。 本論文建立了并聯(lián)機(jī)器人的物理模型，詳盡探討了機(jī)器人的工作空間，給出了可達(dá)工作空間的計算方法 ， 并通過對工作空間的位置分析和運(yùn)動分析，得出了最佳的連桿長度和機(jī)構(gòu)的運(yùn)動空間的關(guān)系。并聯(lián)機(jī)器人由于結(jié)構(gòu)的限制不容易實現(xiàn)靈活工作空間，針對這一特性，文中提出了并聯(lián)機(jī)器人的靈活度和靈活空間等性能指標(biāo)的概念。 最后本文系統(tǒng)的論述了步進(jìn)電動機(jī)的選用和硬件電路的設(shè)計，并給出了步進(jìn)電動機(jī)的控制程序?？臻g模型是實現(xiàn)機(jī)器人機(jī)構(gòu)計算機(jī)輔助設(shè)計的有效途徑，因此本論文的研 究對設(shè)計者設(shè)計并聯(lián)機(jī)器人機(jī)構(gòu)和開發(fā)這些并聯(lián)機(jī)器人機(jī)構(gòu)的計算機(jī)輔助設(shè)計軟件有著重要的科學(xué)意義和明顯的應(yīng)用價值。 關(guān)鍵詞 ：物理模型 硬件電路 并聯(lián)機(jī)器人 北華航天工業(yè)學(xué)院畢業(yè)論文 II Abstract The design of manipulators, especially the parallel manipulators, is one of the challenging problems in the robotic field. In this thesis, the physical models of the solution space for some parallel manipulators are planar parallel manipulators. The thesis studies the workspaces of the parallel manipulators in detail . The numerical methods for calculating the workspaces are presented through the work space and the location analysis and motion analysis. The concepts of agility and the agile workspace for parallel manipulators are proposed and defined. The physical models of the solution space propose a useful approach for the puteraided design of robotic mechanisms, the results and the techniques obtained by this thesis are very useful for the design of the parallel robotic mechanisms and the development of CAD software. Key words: Physical Model Hardware circuit Parallel manipulator 北華航天工業(yè)學(xué)院畢業(yè)論文 1 目 錄 摘 要 ............................................ I ABSTRACT ......................................... II 目 錄 ............................................ 1 第 1 章 緒論 ....................................... 4 概述 ........................................................................................................... 4 并聯(lián)機(jī)器人的特點(diǎn)、發(fā)展過程、現(xiàn)狀 ................................................ 4 并聯(lián)機(jī)器人綜合的研究現(xiàn)狀 ................................................................. 7 論文選題的意義 ...................................................................................... 8 第 2 章 并聯(lián)機(jī)器人機(jī)構(gòu)及性能分析 .................. 10 機(jī)器人系統(tǒng)自由度的分析 .................................................................. 10 機(jī)器人機(jī)構(gòu)性能分析 ........................................................................... 10 機(jī)器人機(jī)構(gòu)描述 ...................................................................................................... 10 位置分析 ................................................................................................................ 11 性能評價指標(biāo) ........................................................................................................ 12 尺寸設(shè)計 ............................................................................................... 14 最佳極位夾角的確定 ............................................................................................ 14 最佳連桿長度的確定 ............................................................................................ 15 其他參數(shù)的確定及尺寸設(shè)計結(jié)果 ........................................................................ 16 并聯(lián)機(jī)構(gòu)活動空間及連桿尺寸的確定 ................................................................... 16 并聯(lián)機(jī)構(gòu)運(yùn)動學(xué)仿真概述 .................................................................. 16 小結(jié) ........................................................................................................ 17 第 3 章 步進(jìn)電動機(jī)的選擇及一級減速齒輪副的選擇 .... 18 北華航天工業(yè)學(xué)院畢業(yè)論文 2 步進(jìn)電機(jī)的特點(diǎn) ................................................................................... 18 步進(jìn)電機(jī)的工作原理 ........................................................................... 19 步進(jìn)電機(jī)的控制 ................................................................................... 19 一級減速齒輪副的選擇 ...................................................................... 20 小結(jié) ........................................................................................................ 21 第 4 章 機(jī)器人控制系統(tǒng)的設(shè)計 ...................... 21 單片機(jī)概述 ........................................................................................... 21 單片機(jī)的發(fā)展情況 ................................................................................................ 22 單片機(jī)的結(jié)構(gòu) ........................................................................................................ 22 單片機(jī)的應(yīng)用 ...................................................................................................... 22 芯片的選取原則和片腳結(jié)構(gòu) .............................................................. 23 .......................................................................................................... 23 系列單片機(jī) 8031 ........................................................................................ 23 .............................................................................................................. 24 八譯碼器 ........................................................................................................ 24 .............................................................................................................. 24 數(shù) 據(jù)存儲器 .............................................................................................................. 25 . 并行 I/O 口 ............................................................................................................ 25 鍵盤顯示電路 ....................................................................................... 26 硬件電路設(shè)計 ....................................................................................... 27 本設(shè)計硬件電路簡介 ............................................................................................... 27 各芯片的地址計算 .............................................................................................. 28 本設(shè)計硬件電路圖 ................................................................................................... 28 步進(jìn)電機(jī)的控制程序 ........................................................................... 28 ...........