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三軸聯(lián)動(dòng)機(jī)械臂伺服運(yùn)動(dòng)機(jī)械結(jié)構(gòu)設(shè)計(jì)(參考版)

2025-06-26 01:25本頁面
  

【正文】 由于碳電刷直流電動(dòng)機(jī)的額定電壓為24伏,電壓調(diào)節(jié)器是需要調(diào)節(jié)在24V至5V邏輯電源,以便系統(tǒng)可以使用,而不是雙電壓操作供應(yīng)。使用M51660L,不用L298,一個(gè)復(fù)雜的位置反饋控制系統(tǒng)變得簡(jiǎn)化,成為一個(gè)緊湊的模塊。如果我們連接這兩個(gè)H橋的輸出端并聯(lián),輸出電流會(huì)加倍。從SGS湯姆遜雙極驅(qū)動(dòng)芯片L298是用來作為一種替代,以避免這些當(dāng)離散的組件用于缺陷,則不要要離散的組件,只需要一些底座[3]。一般情況下,H橋被用為電流放大器的一個(gè)輸出級(jí),用于上述目的。因此,電流放大器的作用是驅(qū)動(dòng)大電流的電機(jī)。這種專用芯片還設(shè)有一個(gè)小型的輪廓,少分立元件,從而成本低。反饋信號(hào)對(duì)位置控制系統(tǒng)的總結(jié)點(diǎn)PWM位置指令進(jìn)行比較。我們采用了最新的集成電路板三菱M51660L作為PWM控制器,用于重型伺服電動(dòng)機(jī)[2]。脈沖展寬器輸出信號(hào)通過一個(gè)H橋電路驅(qū)動(dòng)伺服電機(jī),關(guān)閉伺服環(huán)路,PWM模塊的結(jié)構(gòu)示于圖4。在正常使用中,50Hz的輸入脈沖信號(hào)與由反饋伺服位置電位器所控制的內(nèi)部線性脈沖發(fā)生器。R/C伺服電機(jī)可以按順時(shí)針方向旋轉(zhuǎn)從90度至+90度范圍[1]。該R/C伺服電動(dòng)機(jī)是由一個(gè)PWM信號(hào)控制,并能根據(jù)脈寬運(yùn)動(dòng)到理想位置。 圖2:碳刷式直流電機(jī)和齒輪箱組件(B) PWM模塊常規(guī)的R/C伺服電機(jī)由PWM信號(hào)控制。電動(dòng)機(jī)外觀組件被示于圖2 ,在該齒輪的齒輪箱內(nèi)部是由金屬材料和潤(rùn)滑油,使得該組件可在重載工況中使用。因?yàn)檫@種特殊設(shè)計(jì)而得到的結(jié)果是:一個(gè)內(nèi)徑5毫米的電位,外徑為5毫米變速箱軸。厘米和28轉(zhuǎn)。該電機(jī)可以在約5000rpm的速度在額定電壓下轉(zhuǎn)動(dòng)。該系統(tǒng)更詳細(xì)的每個(gè)部分討論如下文:(A) 電機(jī)組件 直流碳刷電機(jī)是一種用24伏作為額定電壓、具有62g如直流電動(dòng)機(jī)轉(zhuǎn)動(dòng)時(shí),電位器為讓R/C伺服電機(jī)與被控制的PWM信號(hào)兼容,在這個(gè)設(shè)計(jì)上,所提出的重型伺服電機(jī)的軸的位置也由PWM被控制。碳刷直流減速電機(jī)作為控制電機(jī),需要合適的減速比。在本文中,我們提出了用PWM信號(hào)控制伺服電機(jī),以便在高負(fù)荷或者其他不利的情況下進(jìn)行工作。因此,一種具有扭矩超過20千克厘米。機(jī)器人控制系統(tǒng)可以通過發(fā)送適當(dāng)?shù)腜WM信號(hào)來控制這些電機(jī)。R/。此外,在機(jī)器人設(shè)計(jì)的多個(gè)環(huán)節(jié)還需要多個(gè)伺服電機(jī),這會(huì)使機(jī)器人的設(shè)計(jì)過于昂貴而不能投入實(shí)際使用,R/C伺服系統(tǒng)是一個(gè)包含旋轉(zhuǎn)定位的裝配體,最初被設(shè)計(jì)用來控制R/飛機(jī)或船。一 引言在機(jī)器人控制領(lǐng)域,設(shè)計(jì)人員通常選擇直流伺服電機(jī)或無刷伺服電機(jī)作為促動(dòng)器來驅(qū)動(dòng)各個(gè)關(guān)節(jié)。本研究結(jié)果證明一個(gè)重型R/C伺服電機(jī)在機(jī)器人應(yīng)用方面比商業(yè)的R/C伺服電機(jī)能提供更多的扭矩。在本文中,齒輪直流電機(jī)作為控制機(jī),電位器安裝在輸出軸上的位置作為反饋傳感器。然而,一個(gè)R/C伺服電機(jī)在許多應(yīng)用方面,輸出扭矩并不能達(dá)到所要求的,例如機(jī)器人的設(shè)計(jì),遙控車或飛機(jī)也需要較高扭矩。這個(gè)傳統(tǒng)的遙控(R/C)系統(tǒng)是一個(gè)精致的,可被遠(yuǎn)程的裝置。 the original shaft attached to the wiper was removed. As a result of this special design, a potentiometer with an inner diameter of 5 mm is obtained. The outer diameter of the gearbox shaft is 5mm, which is the same as the inner diameter of the potentiometer, so that the potentiometer can firmly attach to the DC motor assembly and serves as a position feedback sensor of the motor. The appearance of the motor assembly was shown in Fig. 2, in which gears inside the gearbox are made of metal materials and filled with lubricating oil so that this assembly can be used in heavyduty applications. A carbonbrush type DC motor and gearbox assembly.(B). PWM moduleThe conventional R/C servomotors are controlled by a PWM signal. In this paper, we also adoptPWM signal as the position mand for the heavyduty servomotor, keeping the patibility of thePWM mand protocol for both conventional R/C servomotors and this designed servomotors. The R/C servomotor is controlled by a PWM signal, which can direct the motor to a desired position according to the width of the pulse. The shaft positions of the R/C servomotor and the corresponding required pulse widths are illustrated in Fig. 3. With a ms to ms pulse width, the R/C servomotor can rotate from – 90 degrees to + 90 degrees clockwise [1].Fig. 3 Servomotor shaft position and corresponding required pulse widths.R/C servos are fairly sophisticated devices that incorporate position feedback with a goal to provide precise position control. In normal usage, they pare the ms, 50 Hz input pulse signal with an internal linear pulse generator controlled by the feedback servo position potentiometer. The difference in pulse width, the error signal, is then amplified with a pulse stretcher that provides the servo control gain. The pulse stretcher output drives the servomotor through an Hbridge circuit to close the servo loop. The configuration of the PWM module is depicted in Fig. 4.Fig. 4 Configuration of the PWM module.Although it is not difficult to design a PWM based feedback control system, a special purpose designed IC is more favorable that a large circuit board can be avoided. We adopted an uptodate integrated circuit M51660L from Mitsubishi as the PWM controller for the heavyduty servomotor [2]. M51660L was used to detect the resistance variation of the feedback potentiometer and thus generate a pulse width corresponding to motor position as a feedback signal. A feedback signal was pared with PWM position mand at the summing point of the position control system. Finally, an error signal was output from the summing point to drive the output stage and the motor was driven in a direction to reduce the position error.This dedicated chip also features a small outline, less discrete ponents as well as low cost. However, M51660L provides a current less than 100 mA, which is far below the requirement for a heavyduty servomotor that the current of the motor windings may be up to several amperes. Therefore, a current amplifier is necessary to drive a high current motor.A motor should rotate in either clockwise or counterclockwise direction according to whether the position error subtracted from position mand and sensor feedback is positive or negative. Generally, an Hbridge is adopted as an output stage of the current amplifier for the abovementioned purpose. When discrete ponents are used in designing the current amplifier, at least four power transistors and a lot of resistors are required, resulting in the needs of not only many circuit board space but also several counts of heat sink. A bipolar driving chip L298 from SGS Thomson is used as an alternative to avoid those drawbacks when discrete ponents are used, then no discrete ponents are required and only a small seatsink is needed [3]. Each L298 consists of two Hbridges and each bridge can provides a current up to 2 amperes. If we connect the output terminals of these two Hbridges in parallel, the output current will be doubled. In other words, the designed current amplifier can provide a current up to 4 amperes for the windings of heavyduty servomotors. With M51660L in addition to L298, a plicated position feedback control system is simplified and results in a pact module.III. ResultsFor testing the designed servomotor, a power supply as well as a PWM pulse generator is necessary. Since the rated voltage of the carbonbrush DC motor is 24 volts, a voltage regulator is needed to regulate the 24V to a 5V logic supply so that the system can operate with a single voltage instead of dual voltage supply. Moreover, although a proper PWM mand can be generated from a microcontroller, such as AT89C2051 from ATMEL [4], a more simple circuit us
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