【正文】 學(xué)校代碼： 11059 學(xué) 號(hào)： 0805070014 Hefei University 畢業(yè)設(shè)計(jì)（論文） B A C HE L OR D I SSE RTAT I ON 論文題目： 番茄采摘機(jī)器人運(yùn)動(dòng)控制系統(tǒng)的設(shè)計(jì)與實(shí)現(xiàn) 學(xué)位類別： 工 學(xué) 學(xué) 士 年級(jí)專業(yè)（班級(jí)）： 08 級(jí) 自動(dòng)化 （ 1）班 作者姓名： 導(dǎo)師姓名： 完成時(shí)間： 2020 年 5 月 15 日 I 番茄采摘機(jī)器人運(yùn)動(dòng)控制系統(tǒng)的設(shè)計(jì)與實(shí)現(xiàn) 中文摘要 本文從機(jī)器人機(jī)械結(jié)構(gòu)入手，對(duì)番茄采摘機(jī)器入的運(yùn)動(dòng)控制系統(tǒng)進(jìn)行了研究。首先，參照國(guó)內(nèi)外的采摘機(jī)器人的研究現(xiàn)狀，分析了番茄采摘機(jī)器人機(jī)械結(jié)構(gòu)并完成運(yùn)動(dòng)控制系統(tǒng)的機(jī)械結(jié)構(gòu)設(shè)計(jì)。 其次，對(duì)運(yùn)動(dòng)控制系統(tǒng)進(jìn)行了分析和設(shè)計(jì)。運(yùn)動(dòng)控制系統(tǒng)的分析與設(shè)計(jì)部分立足于采摘機(jī)器人的工作環(huán)境，并結(jié)合采摘機(jī)器人自身運(yùn)動(dòng)方面的需求和其 它機(jī)械部分的需求來(lái)設(shè)計(jì)。主要包括：電源模塊、電機(jī)控制模塊、電機(jī)驅(qū)動(dòng)模塊、顯示模塊等。 第三，對(duì)采摘機(jī)器人的傳感器部分進(jìn)行了分析并對(duì)運(yùn)動(dòng)控制系統(tǒng)的避障部分進(jìn)行了設(shè)計(jì)。采摘機(jī)器人的傳感器選擇依據(jù)的是番茄采摘機(jī)器人的工作環(huán)境以及目前市場(chǎng)上所具有的幾種常見傳感器的性能、價(jià)格和能完成的功能進(jìn)行比較選擇，最終設(shè)計(jì)出避障系統(tǒng)。 最后，通過(guò)仿真驗(yàn)證了運(yùn)動(dòng)控制系統(tǒng)設(shè)計(jì)的準(zhǔn)確性，實(shí)現(xiàn)了避障功能。 關(guān)鍵詞： 機(jī)械結(jié)構(gòu)；避障；傳感器；運(yùn)動(dòng)控制 II Tomato Harvesting Robot Motion Control System Design And Implementation ABSTRACT This paper starts from the mechanical structure of robot to analyse and design the motion control system of Tomato Picking Robot . Firstly, with reference to the new research of the domestic and foreign picking robot, it analyses the tomato picking robot mechanical structure and design mechanical structure of the motion control system . Secondly, analysis and designs the motion control system. It is also based on the picking robot working environment, and bined the damand of picking robot self motion and the coordination of other mechanical to design. Mainly it prises a power supply module, motor control module and display module and so on. Thirdly, The sensor of the picking robot is analyzed and designing the obstacle avoidance of the motion control system , mainly including: the selection of sensor, obstacle avoidance module, alarm module designing. Picking robot sensor selection is based on the tomato picking robot working environment as well as the current market, which has several mon sensor performance, price and can plete the function chosen for parison. At last, it designs the obstacle avoidance system. Finally, the accuracy of the motion control system in this design is verified correctly by simulation. The obstacle avoidance function can realizing in the simulation . KEY WORD: mechanical structure 。 obstacle avoidance 。 sensors。 motion control III 目 錄 中文摘要 ............................................................................................................................................ I ABSTRACT .......................................................................................................................................II 第一章 前言 .................................................................................................................................... 1 研究背景與意義 .................................................................................................................... 1 果實(shí)采摘機(jī)器人研究現(xiàn)狀 ...................................................................................................... 1 果實(shí)采摘機(jī)器人國(guó)內(nèi)外發(fā)展現(xiàn)狀 .................................................................................. 1 果實(shí)采摘機(jī)器人關(guān)鍵技術(shù)及其發(fā)展現(xiàn)狀 ........................................................................ 3 研究?jī)?nèi)容與結(jié)果 .................................................................................................................... 4 第二章 機(jī)械結(jié)構(gòu)的分析與設(shè)計(jì) ........................................................................................................ 5 果實(shí)采摘機(jī)器人整體機(jī)械結(jié)構(gòu)的分析 ..................................................................................... 5 運(yùn)動(dòng)控制系統(tǒng)機(jī)械結(jié)構(gòu)的設(shè)計(jì) ............................................................................................... 6 運(yùn)動(dòng)控制系統(tǒng)的機(jī)械結(jié)構(gòu)分析 ...................................................................................... 6 運(yùn)動(dòng)控制系統(tǒng)機(jī)械結(jié)構(gòu)的設(shè)計(jì) ...................................................................................... 6 運(yùn)動(dòng)控制系統(tǒng)車體載荷分析與執(zhí)行器的選擇 .......................................................................... 7 執(zhí)行器選擇依據(jù) .......................................................................................................... 7 執(zhí)行機(jī)構(gòu)電機(jī)的介紹 ................................................................................................. 10 第三章 運(yùn)動(dòng)控制系統(tǒng)硬件部分設(shè)計(jì) ............................................................................................... 12 總體方案設(shè)計(jì)思路 ............................................................................................................... 12 主控制器模塊 ............................................................................................................ 12 電源模塊 ................................................................................................................... 12 電機(jī)控制模塊 ............................................................................................................ 13 電機(jī)驅(qū)動(dòng)模塊 ............................................................................................................ 13 顯示模塊 ................................................................................................................... 14 報(bào)警模塊 ................................................................................................................... 15 傳感器選擇與避障系統(tǒng)設(shè)計(jì) ....................................................................................... 15 運(yùn)動(dòng)控制系統(tǒng)硬件設(shè)計(jì) ........................................................................................................ 17 主控器模塊設(shè)計(jì) ......................................................................................................... 17 電機(jī)控制模塊電路設(shè)計(jì) .............................................................................................. 18 報(bào)警模塊電路設(shè)計(jì) .................................................................................................... 20 顯示模塊電路