基于STM32的小型机械手的设计与控制方法

发布时间：2018-04-22 13:44

  本文选题：脉宽调制控制 + 机械手　； 参考：《探测与控制学报》2017年02期

【摘要】：针对机器手的每个关节需要进行位置和速度的控制,而伺服电机、步进电机等控制存在成本高,控制精度不够等问题,提出了基于STM32的小型机械手的设计与控制方法。相对于电机控制来说,基于脉宽调制技术控制的舵机机械手臂有其控制简单、灵活和动态响应好、价格便宜等优点。设计了机械手臂的整体结构,分析了码垛机械手的脉宽调制驱动方法,并在结构设计的基础上进行了运动学分析,得出了机械手的末端位姿。对机械手抓取目标物的控制系统进行了设计、编程及仿真实验,采用实体建模软件Solidworks建立小型码垛机械手臂虚拟样机模型。基于该模型,设计了抗环境噪声与电路自身噪声问题的电路,进行多次搬运实验。实验证明,该方法可以实现机械手对物体的准确抓取、运送等工作,有效地避免了电机定位不准、价格昂贵的情形,使得控制更为简单灵活。
[Abstract]:Aiming at the need to control the position and speed of each joint of the robot hand, the design and control method of the small manipulator based on STM32 is put forward, which has the problems of high cost and insufficient control precision of servo motor, step motor and so on. Compared with motor control, the manipulator based on pulse width modulation has the advantages of simple control, good dynamic response and low price. The whole structure of the manipulator is designed, the pulse width modulation driving method of the palletizing manipulator is analyzed, the kinematics analysis is carried out on the basis of the structural design, and the terminal position and pose of the manipulator are obtained. The control system of grab object by manipulator is designed, programmed and simulated. The virtual prototype model of small palletizing arm is established by using entity modeling software Solidworks. Based on the model, the circuit to resist the environmental noise and the circuit itself noise is designed. The experiments show that the method can realize the accurate grasping and transporting of the object by the manipulator, effectively avoid the situation that the motor is located incorrectly and the price is expensive, so the control is simpler and more flexible.
【作者单位】： 北京理工大学机电动态控制重点实验室;北京理工大学机电学院;
【分类号】：TP241
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本文编号：1787484