摘要膛内拍照机器人可以提高炮膛内部检测结果的精确度和客观性，对炮膛修复具有重要意义。本文在膛内拍照机器人结构设计基础上，分析了自行设计的膛内拍照机器人的结构组成和工作原理，重点探讨了单蜗杆三蜗轮传动机构和丝杠螺母变径调节机构，并在ADAMS软件环境下进行了多体动力学建模。同时基于该模型进行了运动学精度分析和动力学仿真分析，提出了系统运动精度的影响因素，为改进模型的初步设计参数提供数据依据。针对这种膛内拍照机器人的功能设计了基于ATmega128微控芯片的控制电路系统。通过MATLAB/Simulink和ADAMS/View软件下进行机电系统联合仿真，验证了其功能的可靠性和工作稳定性，对将来同类产品的研究具有一定的参考意义。21345
关键词  膛内拍照机器人  单蜗杆三蜗轮机构  ADAMS建模与仿真  ATmega128控制系统
毕业论文设计说明书（论文）外文摘要
Title  Scheme Design and Co-simulation of the Photoing Robot in Bore——The Design and Co-simulation of the robot control system                                      
Abstract
Photoing robot used to detect bore can improve the accuracy and objectivity of detection result, which is significant to repair bore. The development process of micro pipe inspection robot and the detection methods within bore are studied. Mechanical structure and working principle of self-designed photoing robot in bore is analyzed and the introduction of single worm shaft with three worm gears transmission mechanism and adjustable screw nut adjustment mechanism are highlighted. And a Multi-body dynamics model based on ADAMS/View software is built on. Kinematics accuracy analysis and dynamics simulation analysis provide some data basis for improving the design parameters of the preliminary model. The control circuitry based on ATmega128 microcontroller chip for the photoing robot in bore is designed. The electrical and mechanical systems co-simulation under MATLAB/Simulink and ADAMS/View software verify the reliability and stability of its function and provide a certain reference value for future studies of similar products.
Keywords  Photo robot in bore  single worm shaft with three worm gears transmission mechanism  ADAMS modeling and simulation  ATmega128 Control Systems
 火炮膛内拍照机器人方案设计及联合仿真——机器人控制系统设计及联合仿真
目 录
1  绪论    1
1.1  本课题的研究意义    1
1.2  膛内拍照机器人的发展概述    1
1.3  膛内拍照机器人的结构与原理分析    2
1.4  本课题的研究内容    6
2  膛内拍照机器人的多体动力学建模与仿真分析    7
2.1  膛内拍照机器人的多体动力学建模    7
2.2  膛内拍照机器人运动精度仿真分析    12
2.3  膛内拍照机器人动力学仿真分析    18
2.4  本章小结    22
3  膛内拍照机器人控制系统设计    23
3.1  ATmega128核心控制模块设计    23
3.2  矩阵键盘模块设计    24
3.3  步进电机控制模块设计    25
3.4  电源稳压模块设计    27
3.5  压力传感器信号处理模块设计    28
3.6  FYD12864显示模块设计    32
3.7  本章小结    37
4  膛内拍照机器人的联合仿真    38 火炮膛内拍照机器人控制系统方案设计及联合仿真:http://www.youerw.com/jixie/lunwen_13507.html