下围棋机器人手臂设计
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2. 总体方案................................................................................................5
2.1. 电机种类的选择及传动方案的确定 .............................................................5 2.1.1. 驱动电机种类的选择...........................................................................5 2.1.2. 机械结构传动方案 ..............................................................................6
3.4. 肩部的设计..................................................................................................26 3.4.1. 大臂的设计........................................................................................26 3.4.2. 肩部电机 2 的设计 ............................................................................27
3. 机械结构的设计 ....................................................................................7
3.1. 机器人手爪的设计 ........................................................................................7 3.1.1. 手指的设计..........................................................................................7 3.1.2. 锥形块的设计及弹簧的选择 ...............................................................7 3.1.3. 电磁铁的选择 ......................................................................................8 3.1.4. 手爪外壳尺寸设计 ..............................................................................8
本次我设计的是下围棋的机器人手臂，机器人手臂是机器人的主要部件，如何让机 器人的动作更加人性化，更加高效、稳定一直是机器人手臂研究的主要内容之一。这次 我设计的围棋机器人手臂包括五个自由度，采用关节式坐标系，动作关节采用步进电机 驱动谐波减速器减速，避免了液压驱动的清洁性问题和气动的不稳定问题。手爪抓取动 作由一个电磁体进行驱动，所有的电机和运动控制卡控制。
关键字：围棋，机器人手臂，五自由度，步进电机，谐波减速器
下围棋机器人手臂设计
wenku.baidu.comII
ABSTRACT
According to statistics, the number of Go in the world is increasing, and not just the traditional chess network ,Go also emerging. With the development of robot technology, its applications are gradually expanding from the traditional industrial areas to the entertainment field, so a variety of chess robot are product. There is reason to believe that the development of chess robot system has a broad market prospect. Control, emerging in the world of chess and chess robots playing chess robot entertainment devices, Go robots remained blank, and its interactive features are also lacking. There are three reasons: First, chess and chess has long been dominant in the domestic and international, while the quintessence of overly highbrow; is due to the particularity of chess, such as the checkerboard point grid density (positioning accuracy requires high), a start there is no fixed position of a pawn (a pawn from the chess tanks crawl), a pawn shape (clamping devices), the pieces harder and more and the location and number of random (image recognition constitute a closedloop system, chess, chess can be used openloop control), grapes (to agile grapes device), robbery, a variety of forbidden (the complexity of the game program) and other special chess rules are quite different, so the motion control system and chess; chess machine people related equipment only as a hightech toys to develop, the actual use of less, there is no emphasis on interactivity.
3.3. 肘部的设计..................................................................................................21 3.3.1. 小臂的设计........................................................................................21 3.3.2. 肘部电机 3 的选择 ............................................................................21
Keywords: chess, robot arm, five degrees of freedom, stepper motor, reducer
下围棋机器人手臂设计
III
目录
1. 绪论 .......................................................................................................1
3.2. 腕部的设计....................................................................................................9 3.2.1. 腕部角度电机的选择...........................................................................9 3.2.2. 联轴器选用........................................................................................10 3.2.3. 连接轴 5 的设计 ................................................................................12 3.2.4. 腕部垂直电机 4 的选用.....................................................................15
I designed the Go under the robot arm, robot arm is the main components of the robot, how to make the robot's action is more humane, more efficient, stable and has been one of the main robot arm. The Go I designed robot arm consists of five degrees of freedom, using the joint coordinate system, action joint stepper motordriven reducer reducer to avoid the cleaning of the hydraulic drive and pneumatic instability. Gripper to grab action driven by an electromagnet, the use of independent Motion Control Card control.
1.1. 引言 ...............................................................................................................1 1.2. 国内外发展概况 ............................................................................................1
下围棋机器人手臂设计
I
摘要
据统计现在世界下围棋的人数正在不断增加，而且不仅仅是传统的对弈，还有网络 围棋也在兴起。随着机器人技术的发展，其应用领域正在逐渐扩大，从传统的工业领域 走向娱乐领域，于是产生了各种棋类机器人。有理由认为，围棋机器人系统的开发有广 阔的市场前景。对照目前世界上陆续出现的象棋和国际象棋机器人等下棋机器人娱乐设 备，围棋机器人方面仍显空白，其人机交互功能方面也有所欠缺。原因有三点：一是由 于象棋和国际象棋长期以来在国内和国际占据统治地位，而国粹又过分阳春白雪；二是 由于围棋的特殊性，如棋盘点多格密(定位精度要求高)，一开局就没有固定的棋子位置 (棋子需要从棋罐中抓取)，棋子形状 (夹持装置)，棋子越下越多且位置和数量随机(图 像识别构成闭环系统，国际象棋、象棋系统可以采用开环控制)，有提子(需要敏捷的提 子装置)、打劫、多种禁着(游戏程序的复杂性)等特殊的对弈规则，因此动作控制系统 与象棋有较大差别；三是下棋机器人相关设备还只作为高科技玩具来开发，实际使用较 少，没有重视交互性。
2.1. 电机种类的选择及传动方案的确定 .............................................................5 2.1.1. 驱动电机种类的选择...........................................................................5 2.1.2. 机械结构传动方案 ..............................................................................6
3.4. 肩部的设计..................................................................................................26 3.4.1. 大臂的设计........................................................................................26 3.4.2. 肩部电机 2 的设计 ............................................................................27
3. 机械结构的设计 ....................................................................................7
3.1. 机器人手爪的设计 ........................................................................................7 3.1.1. 手指的设计..........................................................................................7 3.1.2. 锥形块的设计及弹簧的选择 ...............................................................7 3.1.3. 电磁铁的选择 ......................................................................................8 3.1.4. 手爪外壳尺寸设计 ..............................................................................8
本次我设计的是下围棋的机器人手臂，机器人手臂是机器人的主要部件，如何让机 器人的动作更加人性化，更加高效、稳定一直是机器人手臂研究的主要内容之一。这次 我设计的围棋机器人手臂包括五个自由度，采用关节式坐标系，动作关节采用步进电机 驱动谐波减速器减速，避免了液压驱动的清洁性问题和气动的不稳定问题。手爪抓取动 作由一个电磁体进行驱动，所有的电机和运动控制卡控制。
关键字：围棋，机器人手臂，五自由度，步进电机，谐波减速器
下围棋机器人手臂设计
wenku.baidu.comII
ABSTRACT
According to statistics, the number of Go in the world is increasing, and not just the traditional chess network ,Go also emerging. With the development of robot technology, its applications are gradually expanding from the traditional industrial areas to the entertainment field, so a variety of chess robot are product. There is reason to believe that the development of chess robot system has a broad market prospect. Control, emerging in the world of chess and chess robots playing chess robot entertainment devices, Go robots remained blank, and its interactive features are also lacking. There are three reasons: First, chess and chess has long been dominant in the domestic and international, while the quintessence of overly highbrow; is due to the particularity of chess, such as the checkerboard point grid density (positioning accuracy requires high), a start there is no fixed position of a pawn (a pawn from the chess tanks crawl), a pawn shape (clamping devices), the pieces harder and more and the location and number of random (image recognition constitute a closedloop system, chess, chess can be used openloop control), grapes (to agile grapes device), robbery, a variety of forbidden (the complexity of the game program) and other special chess rules are quite different, so the motion control system and chess; chess machine people related equipment only as a hightech toys to develop, the actual use of less, there is no emphasis on interactivity.
3.3. 肘部的设计..................................................................................................21 3.3.1. 小臂的设计........................................................................................21 3.3.2. 肘部电机 3 的选择 ............................................................................21
Keywords: chess, robot arm, five degrees of freedom, stepper motor, reducer
下围棋机器人手臂设计
III
目录
1. 绪论 .......................................................................................................1
3.2. 腕部的设计....................................................................................................9 3.2.1. 腕部角度电机的选择...........................................................................9 3.2.2. 联轴器选用........................................................................................10 3.2.3. 连接轴 5 的设计 ................................................................................12 3.2.4. 腕部垂直电机 4 的选用.....................................................................15
I designed the Go under the robot arm, robot arm is the main components of the robot, how to make the robot's action is more humane, more efficient, stable and has been one of the main robot arm. The Go I designed robot arm consists of five degrees of freedom, using the joint coordinate system, action joint stepper motordriven reducer reducer to avoid the cleaning of the hydraulic drive and pneumatic instability. Gripper to grab action driven by an electromagnet, the use of independent Motion Control Card control.
1.1. 引言 ...............................................................................................................1 1.2. 国内外发展概况 ............................................................................................1
下围棋机器人手臂设计
I
摘要
据统计现在世界下围棋的人数正在不断增加，而且不仅仅是传统的对弈，还有网络 围棋也在兴起。随着机器人技术的发展，其应用领域正在逐渐扩大，从传统的工业领域 走向娱乐领域，于是产生了各种棋类机器人。有理由认为，围棋机器人系统的开发有广 阔的市场前景。对照目前世界上陆续出现的象棋和国际象棋机器人等下棋机器人娱乐设 备，围棋机器人方面仍显空白，其人机交互功能方面也有所欠缺。原因有三点：一是由 于象棋和国际象棋长期以来在国内和国际占据统治地位，而国粹又过分阳春白雪；二是 由于围棋的特殊性，如棋盘点多格密(定位精度要求高)，一开局就没有固定的棋子位置 (棋子需要从棋罐中抓取)，棋子形状 (夹持装置)，棋子越下越多且位置和数量随机(图 像识别构成闭环系统，国际象棋、象棋系统可以采用开环控制)，有提子(需要敏捷的提 子装置)、打劫、多种禁着(游戏程序的复杂性)等特殊的对弈规则，因此动作控制系统 与象棋有较大差别；三是下棋机器人相关设备还只作为高科技玩具来开发，实际使用较 少，没有重视交互性。