摘要：此毕业设计是有关于小型多自由度机械手测控系统的设计。本设计的主要部分为带有防松机构的机械手指的设计以及力传感器，位移传感器的设计，测试。其次为安装传感器进行的改良设计。防松机构的机械手指是利用在指尖增加压缩弹簧和在手指支架上安装扭簧而达到防松的效果。力测试系统的主要作用为控制、反馈搬运机器人（手）的夹持力，根据工作特性与要求决定、调整机器人（手）的工作状态。机械手的动作及受力情况通过各类传感器输入到计算机，并进行分析。再根据分析结果对机械手进行控制。在其运动过程中，压电式力传感器测试手指夹紧力，同时激光位移传感器进行纵向和横向的位移反馈。本系统要求能在机械手运动过程中满足国家颁布的试验性能、参数进行检测和动态跟踪。该系统集机、电、液、检测于一体，高度智能化、柔性化、综合化。该设备能应用于涉及搬运机械手的相关企业, 提高企业产品的搬运效率和竞争能力。5682
关键词：机械手；防松机构；传感器；控制
Design of small multiple degrees of freedom manipulator control system
Abstract: The graduation design is about Small multiple degree of freedom manipulator control system. The main part of design is the design of mechanical finger with Anti-loose mechanism and the design of force sensor and displacement sensors. The minor part is improving the design of the machine hand for assembling the sensors. Mechanical finger with Anti-loose mechanism achieve the anti-loosening effect through increasing the compression spring in the fingertips and arranging a torsion spring on the finger to. The major role of the system is about control and feedback the force. And according to the work requirement, the work state of the robot hand is decided and adjusted. The action and force of robot hand is input computer by some sensors, and then it is analyzed. Then according to the results, control the robot hand. In the course of its movement, piezoelectric force sensors test finger clamping force, and at the same time Laser displacement sensors feedback the displacement of vertical and horizontal. The system requirements are that during robot hand movement it must meet the test performance of the national requirement, test parameters and dynamic track. The system includes machine, electricity, hydraulic and testing, and it is highly intelligent, flexible, integrated. And it can improve the handling efficiency and competitiveness of the company who use the handling robot.
Key Words: robot hand; Anti-loose mechanism; sensor; control
目  录

1序言    1
1.1前言    1
1.2机械手概述    2
1.2.1机械手的组成    2
1.2.2机械手的分类    3
1.2.3机械手设计的目的    3
1.2.4机械手的用途    3
1.2.5机械手的主要性能参数    4
1.2.6机械手对传感器的要求    4
1.3设计的研究范围    5
2设计内容及设计步骤    7
2.1机械手手爪机构的设计    7
2.2传感器的设计及选择    7
2.3传感器的安装设计    7
2.4测试软件的编制及控制程序的控制要求    7
3总体设计方案    9
4测试系统的设计    11
4.1测力传感器功能设计    11
4.2传感器的类型及结构设计    11
4.2.1力传感器    12
4.2.2位移传感器    15
4.2.3传感器其他指标设计选择    17
4.3测试系统的综合设计    17
4.3.1传感器信号调理（放大、调理、转换）器    17 小型多自由度机械手测控系统设计+CAD图纸:http://www.youerw.com/jixie/lunwen_2821.html