【正文】 uter environment immediately and has no accumulation error, which often is used in driving system. In this driving system, openloop control system is posed of stepping motor, which can satisfy the demand not only for control precision but also for the target of economic and practicality. On this basis，the analysis of stepping motor in power calculating and style selecting is also given.The analysis of kinematics and dynamics for object holding manipulator is given in pleting the design of mechanical structure and drive system. Kinematics analysis is the basis of path programming and track control. The positive and reverse analysis of manipulator gives the relationship between manipulator space and drive space in position and speed. The relationship between manipulator’s tip position and arthrosis angles is concluded by coordinate transform method. The geometry method is used in solving inverse kinematics problem and the result will provide theory evidence for control system. The f0unction of dynamics is to get the relationship between the movement and force and the target is to satisfy the demand of real time control. in this chamfer, NewtonEuripides method is used in analysis dynamic problem of the cleaning robot and the arthrosis force and torque are given which provide the foundation for step motor selecting and structure dynamic optimal ting.Control system is the key and core part of the object holding manipulator system design which will direct effect the reliability and practicality of the robot system in the division of configuration and control function and also will effect or limit the development cost and cycle. With the demand of the PCL839 card, the PC puter which has a. tight structure and is easy to be extended is used as the principal puter cell and takes the function of system initialization, data operation and dispose, step motor drive and error diagnose and so on. A t the same time, the configuration structure features, task principles and the position function with high precision of the control card PCL839 are analyzed. Hardware is the matter foundation of the control. System and the software is the spirit of the control system. The target of the software is to bine all the parts in optimizing style and to improve the efficiency and reliability of the control system. The software design of the object holding manipulator control system is divided into several blocks such as system initialization block, data process block and error station detect and dispose model and so on. PCL839 card can solve the munication between the main puter and the control cells and take the measure of reducing the influence of the outer signal to the control system.The start and stop frequency of the step motor is far lower than the maximum running frequency. In order to improve the efficiency of the step motor, the increase and decrease of the speed is must considered when the step motor running in high speed and start or stop with great acceleration. The increase and decrease of the motor’s speed can be controlled by the pulse frequency sent to the step motor drive with a rational method. This can be implemented either by hardware or by software. A step motor shift control method is proposed, which is simple to calculate, easy to realize and the theory means is straightforward. The motor39。39。39。39。 s acceleration can fit the torquefrequency curve properly with this method. And the amount of calculation load is less than the linear acceleration shift control method and the method which is based on the exponential rule to change speed. The method is tested by experiment.A t last, the research content and the achievement are sum up and the problems and shortages in main the content are also listed. The development and application of robot in the future is expected.機器人是典型的機電一體化裝置，它綜合運用了機械與精密機械、微電子與計算機、自動控制與驅動、傳感器與信息處理以及人工智能等多學科的最新研究成果，隨著經濟的發(fā)展和各行各業(yè)對自動化程度要求的提高，機器人技術得到了迅速發(fā)展，出現(xiàn)了各種各樣的機器人產品。機器人產品的實用化，既解決了許多單靠人力難以解決的實際問題，又促進了工業(yè)自動化的進程。目前，由于機器人的研制和開發(fā)涉及多方面的技術，系統(tǒng)結構復雜，開發(fā)和研制的成本普遍較高，在某種程度上限制了該項技術的廣泛應用，因此，研制經濟型、實用化、高可靠性機器人系統(tǒng)具有廣泛的社會現(xiàn)實意義和經濟價值。 由于我國經濟建設和城市化的快速發(fā)展，城市污水排放量增長很快，污水處理己經擺在了人們的議事日程上來。隨著科學技術的發(fā)展和人類知識水平的提高，人們越來越認識到污水處理的重要性和迫切性，科學家和研究人員發(fā)現(xiàn)塑料制品在水中是用于污水處理的很有效的污泥菌群的附著體。塑料制品的大量需求，使得塑料制品生產的自動化和高效率要求成為經濟發(fā)展的必然。本文結合塑料一次擠出成型機和塑料抓取機械手的研制過程中出現(xiàn)的問題，綜述近兒年機器人技術研究和發(fā)展的狀況，在充分發(fā)揮機、電、軟、硬件各自特點和優(yōu)勢互補的基礎上，對物料抓取機械手整體機械結構、傳動系統(tǒng)、驅動裝置和控制系統(tǒng)進行了分析和設計，提出了一套經濟型設計方案。采用直角坐標和關節(jié)坐標相結合的框架式機械結構形式，這種方式能夠提高系統(tǒng)的穩(wěn)定性和操作靈活性。傳動裝置的作用是將驅動元件的動力傳遞給機器人機械手相應的執(zhí)行機構，以實現(xiàn)各種必要的運動，傳動方式上采用結構緊湊、傳動比大的蝸輪蝸桿傳動和將旋轉運動轉換為直線運動的螺旋傳動。機械手驅動系統(tǒng)的設計往往受到作業(yè)環(huán)境條件的限制，同時也要考慮價格因素的影響以及能夠達到的技術水平。由于步進電機能夠直接接收數字量，響應速度快而且工作可靠并無累積誤差，常用作數字控制系統(tǒng)驅動機構的動力元件，因此，在驅動裝置中采用由步進電機構成的開環(huán)控制方式，這種方式既能滿足控制精度的要求，又能達到經濟性、實用化目的，在此基礎上，對步進電機的功率計一算及選型問題經行了分析。在完成機械結構和驅動系統(tǒng)設計的基礎上，對物料抓取機械手運動學和動力學進行了分析。運動學分析是路徑規(guī)劃和軌跡控制的基礎，對操作臂進行了運動學正、逆問題的分析可以完成操作空間位置和速度向驅動空間的映射，采用齊次坐標變換法得到了操作臂末端位置和姿態(tài)隨關節(jié)夾角之間的變換關系，采用幾何法分析了操作臂的逆向運動學方程求解問題，對控制系統(tǒng)設計提供了理論依據。機器人動力學是研究物體的運動和作用力之間的關系的科學，研究的目的是為了滿足是實時性控制的需要，本文采用牛頓歐拉方法對物料抓取機械手動力學進行了分析，計算出了關節(jié)力和關節(jié)力矩，為步進電機的選型和動力學分析與結構優(yōu)化提供理論依據。 控制部分是整個物料抓取機械手系統(tǒng)設計關鍵和核心，它在結構和功能上的劃分和實現(xiàn)直接關系到機器人系統(tǒng)的可靠性、實用性，也影響和制約機械手系統(tǒng)的研制成本和開發(fā)周期。在控制主機的選用上，采用結構緊湊、擴展功能強和可靠性高的PC工業(yè)控制計算機作為主機，配以PCL839卡主要承擔系統(tǒng)功能初始化、數據運算與處理、步進電機驅動以及故障診斷等功能。同時對PCL839卡的結構特點、功能原理和其高定位功能等給與了分析。硬件是整個控制系統(tǒng)以及極限位置功能賴以存在的物質基礎，軟件則是計算機控制系統(tǒng)的神經中樞，軟件設計的目的是以最優(yōu)的方式將各部分功能有機的結合起來，使系統(tǒng)具有較高的運行效率和較強的可靠性。在物料抓取機械手軟件的設計上，采用的是模塊化結構，分為系統(tǒng)初始化模塊、數據處理模塊和故障狀態(tài)檢測與處理等幾部分。主控計算機和各控制單元之間全部由PCL839卡聯(lián)系，并且由該卡實現(xiàn)抗干擾等問題，減少外部信號對系統(tǒng)的影響。步進電機的啟停頻率遠遠小于其最高運行頻率，為了提高工作效率，需要步進電機高速運行并快速啟停時，必須考慮它的升，降速控制問題。電機的升降速控制可以歸結為以某種合理的力一式控制發(fā)送到步進電機驅動器的脈沖頻率，這可由硬件實現(xiàn)，也可由軟件方法來實現(xiàn)。本文提出了一種算法簡單、易于實現(xiàn)、理論意義明確的步進電機變速控制策略:定時器常量修改變速控制方案。該方法能使步進電機加速度與其力矩——頻率曲線較好地擬合，從而提高變速效率。而且它的計算量比線性加速度變速和基于指數規(guī)律加速度的變速控制小得多。通過實驗證明了該方法的有效性。最后，對論文主要研究內容和取得的技術成果進行了總結，提出了存在的問題和不足，同時對機器人技術的發(fā)展和應用進行了展望。