【正文】 ，最高電壓46V，每相電流可達(dá)2A。用兩片L298和一片297配合使用，可驅(qū)動(dòng)更大功率的兩相步進(jìn)電機(jī)。 驅(qū)動(dòng)器硬件體系結(jié)構(gòu)由上述可知，利用L297和L298組成的步進(jìn)電動(dòng)機(jī)驅(qū)動(dòng)部分參考電路如圖49所示。在該電路中L297的CW/CCW和CLOCK分別和單片機(jī)的控制口相連接，單片機(jī)通過高低電平控制CW/CCW，從而控制步進(jìn)電機(jī)的正反轉(zhuǎn)。通過發(fā)脈沖控制CLOCK輸入口，從而控制電機(jī)的轉(zhuǎn)動(dòng)。D1D8為快恢復(fù)穩(wěn)壓管，外接12V的電壓驅(qū)動(dòng)步進(jìn)電機(jī)。在脈搏檢測儀中有7個(gè)步進(jìn)電機(jī)，所以整個(gè)驅(qū)動(dòng)電路用需要7個(gè)L297/L298，在驅(qū)動(dòng)電路硬件設(shè)計(jì)的過程中，把每個(gè)電機(jī)的驅(qū)動(dòng)電路做成一個(gè)模塊，那么7個(gè)電機(jī)共需要7個(gè)這樣的模塊來驅(qū)動(dòng)步進(jìn)電機(jī)，使得硬件電路的設(shè)計(jì)簡單化。 本章小結(jié)該混合式步進(jìn)電機(jī)驅(qū)動(dòng)器已經(jīng)成功的應(yīng)用于脈搏檢測儀的運(yùn)動(dòng)控制驅(qū)動(dòng)單元，通過開發(fā)基于單片機(jī)控制軟件，利用嵌入式系統(tǒng)設(shè)計(jì)良好的控制接口，方便的實(shí)現(xiàn)了步進(jìn)電機(jī)的驅(qū)動(dòng)。該驅(qū)動(dòng)單元通過細(xì)分特性，提高了步進(jìn)精度和定位精度。在長時(shí)間的大力矩驅(qū)動(dòng)過程中，由于其斬波恒流特性，較好的控制了發(fā)熱現(xiàn)象。圖49 步進(jìn)電動(dòng)機(jī)驅(qū)動(dòng)電路 結(jié)論本文在綜合分析了脈搏診療及理論研究文獻(xiàn)的基礎(chǔ)上，進(jìn)行了三個(gè)自由度脈搏檢測儀的結(jié)構(gòu)設(shè)計(jì)、關(guān)鍵尺寸的優(yōu)化設(shè)計(jì)以及軌跡控制等問題的研究。本文進(jìn)行的主要工作歸納如下：1. 脈搏檢測儀結(jié)構(gòu)設(shè)計(jì)研究。學(xué)習(xí)了脈搏診療理論的相關(guān)知識(shí)，分析總結(jié)了脈診的規(guī)律，從而合理的減少了機(jī)構(gòu)自由度的設(shè)計(jì)，并且利用步進(jìn)電機(jī)來代替直流電機(jī)，從而能準(zhǔn)確的進(jìn)行脈搏測量和信號(hào)的采集。進(jìn)行了機(jī)構(gòu)的二維和三維的計(jì)算機(jī)輔助設(shè)。經(jīng)過分析機(jī)構(gòu)中影響誤差大小的諸多因素后，經(jīng)過合理的計(jì)算后選用合適的滾軸絲桿并且確定機(jī)構(gòu)的行程，以適合大眾的需求，為產(chǎn)品的開發(fā)和應(yīng)用提供更加有利的條件。選用連續(xù)路徑控制(即CP控制)方法對檢測儀進(jìn)行路徑控制，采用直線插補(bǔ)算法確定初始點(diǎn)和目標(biāo)點(diǎn)之間各個(gè)路徑點(diǎn)的坐標(biāo)，然后計(jì)算出步進(jìn)電機(jī)需要走的步數(shù)。采用操作機(jī)進(jìn)行脈搏檢測和診療工作是一個(gè)很復(fù)雜的問題，由于時(shí)間所限，本文只對關(guān)鍵問題進(jìn)行了理論研究和探討。在機(jī)構(gòu)的優(yōu)化設(shè)計(jì)中只考慮了比較重要的移動(dòng)機(jī)構(gòu)中的參數(shù)，還沒有考慮其他參數(shù)。路徑控制的分析中采用了直線插補(bǔ)算法，計(jì)算效率比較低，應(yīng)該嘗試更合適的算法，如神經(jīng)網(wǎng)絡(luò)或者遺傳算法。這些問題都有待于今后開展更深入的研究。致謝在此論文完成之際，首先向我的導(dǎo)師吳開宇老師表示最衷心的感謝！感謝吳老師在我的學(xué)習(xí)生活中給予的精心指導(dǎo)和耐心的教誨，在本課題的每一步工作中導(dǎo)師都傾注了大量的心血，做出了前瞻性的指導(dǎo)，老師淵博的專業(yè)知識(shí)使我敬佩，嚴(yán)謹(jǐn)?shù)闹螌W(xué)態(tài)度以及不斷創(chuàng)新和誨人不倦的精神更值得我學(xué)習(xí)，也必將使我受益終生!同時(shí)還得到了許巖峰同學(xué)，袁超同學(xué)和朱健恒同學(xué)的真誠支持與幫助，謝謝你們。還要感謝四年來一起生活過的同學(xué)和朋友們，同時(shí)向培養(yǎng)我的母校和老師們致以深深的謝意，并以此作別與我朝夕相處了四年的哈爾濱理工大學(xué)。感謝我所有的親人!他們無私的支持和鼓勵(lì)一直是我奮發(fā)前進(jìn)的動(dòng)力。參考文獻(xiàn)1 北京工業(yè)大學(xué)碩士學(xué)位論文，2006：1～52 ，1990：1～203 梁中慶，1996，(1)：55～574 Paolo Dario， for Medical Applications. and Automation Magazine，1996，(9)：44～565 ，2002：3～66 ，2006：1～47 《金屬機(jī)械加工工藝人員手冊》修訂組編《金屬機(jī)械加工工藝人員手冊》上海：上?？茖W(xué)技術(shù)出版社，1983：316～3198 ，1994：48～529 李 ，1990：231～234 10 Jean D. Wilson. Harrison’s Principles of Internal Medicine 12th Edition，1993，(2)：30～4411 呂 寧，洪 雪，張 ，2006：231～25512 ，2005： 50～7613 朱 凱，黃業(yè)清，馮 ——UG中文版機(jī)械設(shè)計(jì)實(shí)戰(zhàn)訓(xùn)練. 人民郵電出版社，2004：105～13514 ，1990：10～2715 ，1994：51～57附錄原文 The four degreesoffreedom air operated manipulators design introductionNie TongAbstractIntroduce one four degreesoffreedom air operated manipulator39。s design method. This manipulator has the strong representation, moreover the construction cost is inexpensive, the versatility is good, but widely applies in many professions, and may supply when other designers design uses for reference.Keywords: general Air operated manipulator DesignThe manipulator has reduces the labor intensity, the quality assurance, realizes the safety in production function, in each automated domain, specially in high temperature, virulent, emission, flammable explosive and so on adverse circumstance, obtained more and more widespread application. And, because the air operated manipulator has the structure to be simple, the construction cost inexpensive, easy to control, the flexibility degree to be high, merits and so on maintenance convenience, bee production line39。s first choice this article to introduce one kind general briefly air operated. A—The finger opens and closes air cylinder B—the skill oscillating cylinder C—Expands and contracts the air cylinder D—Rises and falls the air cylinder E—Arm oscillating cylinder 1—Guide 2—Arm joint 3—Skill joint 4—Finger joint 5—Localization stop piece 6—Cushion stop pieceThe structure introduces This air operated manipulator to have the four degreesoffreedom finger movement not to include the number of degrees of freedom, the structure schematic drawing sees the chart air cylinder specification to determine according to the actual need, various joints and guide39。s machinery restraint, causes various air cylinders only to withstand from already the application of force direction in strength or the moment of force, thus has guaranteed air cylinder39。s life, the precision and the reliability, if the arm joint quarter is been oversized the pitching moment, but also the coca counterweight is balanced the moment of force which the arm and the work piece produce. localization stop piece and cushion stop piece position continuously adjustable, like this both has guaranteed the position precision, and may satisfy the different specification work the need. The finger part uses two figures to start out from opposite directions folio the structure, may also use the middle finger structure regarding the special work piece. Manipulator39。s base and ground or the rack connect reliably, and has the leveling and the antivibration organization. localization stop piece and cushion stop piece position continuously adjustable, like this both has guaranteed the position precision, and may satisfy the different specification to need to want. The finger part uses two figures to start out from opposite directions folio the structure, may also use the middle finger structure regarding the special work. Manipulator39。s base and the ground or the rack connects reliably, and has the leveling and the antivibration organization. in the manipulator, the stress big ponents uses the steel stock, the sliding friction viceselects and so on bronze, nylon, powder metallurgy material the antifriction material, generally ponents available aluminum alloy or and so on light quality material processing.Breather hose39。s wiring way with certain calls the roll of officers and assign them tasks the hose reliably fixedly as follows fixed, in each section has an air cylinder, when the air cylinder expands and contracts or revolving, two fixed point39。s spacing unceasingly are also changing, if two spot biggest spacings are, this section of hose length is, when takes may satisfy the arm movement trachea39。s expansion request. After the trachea moves toward the determination, ties up various tracheae and various magnetic switching line in the same place, like this will reduce when the movement the hose with other object interference39。s opp