基于单片机的遥控机械臂设计

摘要

机械臂的控制涉及到电子、机械设计、自动控制技术、传感器技术和计算机技术等学科，是一项跨学科的综合控制技术。现如今工业自动化发展迅速，机械手成为了不可或缺的一部分，它在工业生产等领域的应用越来越广泛。本设计主要以自主学习为目的，以Atm1280单片机为核心控制舵机的转动来完成机械手的动作。机械设计部分主要利用Auto CAD来制图，根据所制图纸来手工打造机械手。

程序设计是基于C语言的基础知识来完成，软件主要是运用Arduino 控制板自带的程序开发平台。本设计以AT89C51 单片机为核心，采用LMD18200 电机控制芯片达到控制步进电机的启停、速度和方向，完成了筛选机械手臂基本要求和发挥部分的要求。在筛选机械手臂设计中，采用了PWM 技术对电机进行控制，通过对占空比的计算达到精确调速的目的。

关键词：Arduino；单片机；舵机；机械手臂；串口通讯

ABSTRACT

The control of the manipulator involves electronic, mechanical design, automatic control technology, the sensor technology and computer technology, discipline, is an interdisciplinary comprehensive control technology. Nowadays industrial automation development is rapid, manipulator became indispensable part in industrial production, it is widely used in the fields of the. This design is mainly for the purpose, the autonomous learning Atmega 1280 singlechip control the rotation of the steering gear to complete the manipulator of actions. Mechanical design of the main use Auto CAD to drawing, according to system made by hand manipulator blueprint.

Based on C language program design is the basic knowledge to complete, the software is mainly used to bring program Arduino panel development platform. This design take at89C51 monolithic integrated circuit as a core, uses the LMD18200 motor control chip to achieve the control direct current machine to open stops, the speed and the direction,completed has screened the manipulator essential requirements and the display part request. In screens the manipulator to design, used the PWM technology to carry on the control to the electrical machinery, through the computation achieved the precise velocity modulation to the duty factor the goal.

Key words:Arduino;SCM;Steeringgear; Manipulator; Serial communication .

目录

摘要 ............................................................................................... I ABSTRACT .................................................................................. II 第1章绪论.. (1)

1.1机械臂的概述 (1)

1.2步进电机概述 (3)

1.3遥控机械臂发展现状 (4)

1.4课题研究任务及工作内容 (6)

1.4.1设计（论文）的任务 (6)

1.4.2设计（论文）需要重点解决的问题 (6)

第2章电路硬件设计 (7)

2.1总体设计方案 (7)

2.1.1设计思路 (8)

2.1.2方案选择 (8)

2.1.3系统组成 (10)

2.2硬件设计 (10)

2.2.1硬件结构 (10)

2.2.2机械手臂的组成 (10)

2.2.3 机械手臂的分类 (11)

2.2.4 机械手尺寸的确定 (12)

2.2.5 驱动部分的设计 (12)

2.2.6单片机系统 (14)

2.2.7电机驱动芯片原理及应用 (15)

2.2.8串口通信电路 (17)

2.2.9电机驱动电路 (20)

2.2.10转速测量电路 (21)

第3章电路软件设计 (23)

3.1软件结构 (23)

3.2系统模块程序 (24)

3.2.1步进电机控制模块 (24)