多关节机械手臂系统设计

摘要

机器人是近30年来发展起来的一种高科技自动化生产设备。机械手是机器人的一个重要分支。它的特点是可通过变成完成各种预期的作业任务，在构造和性能上兼有人和机器各自的优点，尤其是体现了人的智能和适应性，机器作业的准确性和在各种环境完成作业的能力。本设计完成了多自由度关节式机械手的运动方案设计和驱动方式选择，并对机座，手臂及末端执行器等机械装置进行了结构设计[8]。

机械手的迅速发展是由于它的积极作用正日益为人们所认识。其一，它能迅速地代替人完成某些操作；其二，它能按照生产工艺的要求，遵循一定的程序、时间和位置要求来完成工件的传送和装卸；其三，它能操作某些必要的机具进行焊接和装配，从而大大改善工人的劳动条件，显著地提高劳动生产率，加快实现工业生产机械化和自动化的步伐，因而受到各先进国家的重视，都投入大量的人力和物力去研究和开发[4]。在高温、高压、粉尘浓度高、严重噪音以及带有放射性和化学污染的场合应用的尤为广泛。在我国，近几年也有较快的发展，并取得了一定的成效，受到机械工业和铁路工业部门的重视[6]。

关键词：机械手，电驱动，嵌入式控制

ABSTRACT

The robot is a high-tech automated production equipment developed in recent 30 years. Manipulator is an important branch of robot. It is characterized by a complete tasks in a variety of expectations, in the structure and performance of both people and machines to their respective advantages, especially reflected people's intelligence and adaptability, accuracy of machine operation and finish the homework in a variety of environmental capacity. Completed the design of multi degree of freedom motion scheme of articulated manipulator design and driving mode selection, and on the base, mechanical arm and end effector for the structure design of [8].

The rapid development of the manipulator is due to its positive role is increasingly recognized. First, it can quickly replace man to complete some operations; secondly, it can be in accordance with the requirements of the production process, follow certain procedures, time and location requirements to complete the transfer and handling of the workpiece; thirdly, it can operate some necessary equipment for welding and assembly, thus greatly improving working conditions, significant to improve labor productivity, accelerate the realization of industrial production mechanization and automation pace, and thus have the advanced national attention, have invested a lot of manpower and material resources to research and development of[4]. In the high temperature, high pressure, high dust concentration, serious noise as well as the application of radioactive and chemical pollution situation is particularly widespread. In our country, in recent years have rapid development, and achieved certain results, by the machinery industry and railway industry attention [6].

Key words:Mechanical arm，Electrically driven，Embedded control

目录

1 绪论 (1)

2 机械臂结构部分设计 (4)

2.1 小臂部分 (4)

2.2大臂部分 (17)

2.3腰部部分 (26)

2.3手腕部分 (35)

3 电路控制部分设计 (45)

3.1 单片机的概念 (45)

3.2单片机特点 (46)

3.3AT89C51单片机简介 (47)

3.4单片机设计相关 (48)

3.5机械手控制程序编写 (48)

4 结论 (51)

5 参考文献 (52)

6 致谢 (51)