[三关节机械臂设计.doc

三关节机械臂及其控制系统设计 摘 要 随着科技的不断进步，机械臂特别是仿人型机械臂的发展非常迅速。其在人们的日常生活，生产中开始扮演着不可或缺的角色。本文呈现的是一种仿人型机械臂，其主要特点在与多样化，简单化，直觉化的人机交互方式。将以往复杂的主从式操作，诸如摇杆控制等，转化为简单的触摸屏操作，同时辅佐以双目机器视觉，还可以实现通过人的手势来控制机械臂动作，实现了直觉化的控制。 为了能高效稳定地控制机械臂，本设计使用了双控制系统协同作业：下位控制系统使用嵌入式系统—ARM 微处理器（S3C2440 芯片）—实现机械臂的基本动作的控制封装，包括定位算法以及运动控制等；上位控制系统是在PC 上实现的，控制软件使用VC++ 6.0 编写，主要实现机器视觉的相关运算，并将运算结果通过串口通信，传递给下位系统—ARM 微处理器，并最终转换成机械臂的动作。 整个设计过程包含了底层的驱动硬件设计：舵机的选型与控制；机械结构设计：结构设计，负载校核；控制系统电路设计；上位，下位软件的编写：舵机的控制方式—PWM 脉宽调制，点定位算法，轨迹控制算法，机器视觉算法；还编写了3 维软件进行仿真：三维的投影算法，及贴面，光照，面的排序算法；并最终制作成实物进行演示，在末端装上笔之后，能够进行简单的书写。 关键字：触摸屏 机器视觉 嵌入式系统 运动控制 Three joint mechanical arm and its control system design Abstract As technology advances, mechanical arm especially humanoid type of mechanical arm is developing fast. This paper presents a humanoid type of mechanical arm.Its main characteristics is multiple ,simple, intuitive man-machine interactive way.Touch screen control and machine version are introduced covering for complex operation ,such as joystick control. Mechanical arm is control by daily gestures which makes it much easier to use a mechanical arm. In order to control the mechanical arm stabily, this design uses the dual control system under coordinated assignments: one control system uses embedded system – ARM microprocessor (S3C2440 chip) - realizing the basic mechanical arm movement control encapsulation, including localization algorithm and motion control, etc.;Upper control system is on the PC platform, using vc + + 6.0 for software, realizing machine vision calculation, and will transmit results through serial communication, to lower level system -the ARM microprocessor, leading to mechanical arm movements The whole design process contains rock-bottom drive hardware design: steering gear selection and control; Mechanical structure design structure design, load checking; Control system circuit design; Superior position software: steering gear -- PWM pulse width modulation, point positioning algorithm, trajectory control algor