摘要当今时代科学技术是第一生产力，各类行业的发展都离不开科学技术，其中机器人技术已经渗入到海洋开发、宇宙探测、采掘、建筑、医疗、农林业、服务、娱乐等各个行业，所以现在各国都大力发展机器人行业，智能车载机器人一体化平台设计就是一个大力发展的方向。它包括车载部分和机械手部分，其中机械手部分是在自动化生产过程中使用的一种具有抓取和移动工件功能的自动化装置。是可以按给定程序、轨迹和要求实现自动抓取、搬运和操作的自动装置。机械手一般由控制系统、驱动系统、执行机构及检测装置四大部分组成。执行机构由机械部件组成即手爪和手腕。驱动部分是由舵机组成的，负责驱动执行机构运动。控制系统采用单片机，用来控制驱动部分。检测装置即传感器，用来采集信号。通过这样一个闭环控制系统使得智能车载机器人能够达到准确抓取和运输的目的。46200
毕业论文关键词：智能车载机器人；机械手；控制器
ABSTRACT Nowadays science and technology is the first productivity, are inseparable from the development of industry of science and technology, which robot technology has penetrated into sea development, space exploration, mining, architecture, medical, agriculture and forestry, services, entertainment etc. in various industries, so now all countries are developing robot industry, intelligent vehicle robot design of integration platform is a vigorously development direction. The device comprises a vehicle part and a mechanical part, wherein, the mechanical part is an automatic device which is used in the automatic production process and has the function of grasping and moving the workpiece. Is a given program, track and requirements to achieve automatic capture, handling and operation of the automatic device. Manipulator generally consists of four parts: control system, drive system, actuator and detection device. The actuating mechanism is composed of a mechanical part of the hand and wrist. The driving part is composed of the steering gear, which is responsible for the movement of the actuating mechanism. The control system adopts single chip microcomputer, which is used to control the drive part. The detecting device is a sensor, which is used for collecting signals. Through such a closed loop control system, the intelligent vehicle robot can reach the goal of grasping and transportation.
Key words: intelligent vehicle robot; manipulator; controller
目 录
第一章 绪论 1
1.1机械手的发展史 1
1.2机械手研究的意义 1
第二章 总体设计方案 2
2.1总体任务分配 2
2.2总体控制方案设计 2
2.3控制系统设计 3
2.4控制方案选择 4
第三章 机械结构设计 5
3.1位姿描述 5
3.1.1方位描述 5
3.1.2坐标变换 6
3.2机械手部结构设计 7
3.3机械手腕手爪功能 9
3.4动力学分析 10
第四章 控制方案设计 15
4.1控制系统硬件设计 15
4.2驱动系统设计 15
4.2.1驱动器的选型 15
4.2.2机械手爪和手腕的电机使用 16
4.3传感系统设计 17
第五章 机械手爪手腕的调试及仿真实验 19
5.1PID控制 19
5.1.1数字PID控制 19
5.1.2 PID产数的整定 19
5.2运动学分析 20
5.3机械手爪手腕的仿真实验 21 车载机器人一体化平台机械手腕手爪的设计+CAD图纸+程序:http://www.youerw.com/jixie/lunwen_47977.html