1山東輕工業(yè)學(xué)院中英文翻譯院系名稱機(jī)械工程學(xué)院學(xué)生姓名專業(yè)班級(jí)機(jī)械設(shè)計(jì)制造及其自動(dòng)化08-4指導(dǎo)教師二一二年四月二十日2Aluminummulti-degreeoffreedommanipulatorDesignandImplementationMechanicalhand,isalsocalledfrombegins,autohandcanimitatethemanpowerandarmscertainholdingfunction,withbypressesthefixedroutinetocapture,thetransportingthingORoperationtoolsautomaticoperationinstallment.Itmayreplacepersonsstrenuouslabortorealizetheproductionmechanizationandtheautomation,canoperateunderthehostileenvironmentprotectsthepersonalsafety,thuswidelyappliesindepartmentsandsoonmachinemanufacture,metallurgy,electron,lightindustryandatomicenergy.Themanipulatorismainlycomposedofthehandandthemotion.Thehandisusesfortograspholdstheworkpiece(ortool)thepart,accordingtoisgraspedholdsthethingshape,thesize,theweight,thematerialandtheworkrequesthasmanykindsofstructuralstyles,liketheclamp,therequestholdandtheadsorptionandsoon.Themotion,causesthehandtocompleteeachkindofrotation(swinging),themigrationorthecompoundmotionrealizesthestipulationmovement,changesisgraspedholdsthethingpositionandtheposture.Motionsfluctuation,theexpansion,revolvingandsoonindependencemovementway,iscalledmanipulatorsdegree-of-freedom.Inordertocaptureinthespacetheoptionalpositionandthepositionobject,musthave6degrees-of-freedom.Thedegree-of-freedomisthekeyparameterwhichthemanipulatordesigns.Thedegree-of-freedomaremore,manipulatorsflexibilityisbigger,theversatilityisbroader,itsstructureisalsomorecomplex.Generallythespecial-purposemanipulatorhas23degrees-of-freedom.Themanipulatorstype,maydivideintothehydraulicpressuretype,theairoperatedaccordingtothedrivetype,electromotivetype,themechanicalmanipulator；Maydivideintothespecial-purposemanipulatorandthegeneral-purposemanipulatortwokindsaccordingtotheapplicablescope；Maydivideintothepositioncontrolandthecontinuouspathaccordingtothepathcontrolmodecontrolsthemanipulatorandsoon.Themanipulatorusuallyservesastheenginebedorothermachinesadd-oncomponent,likeontheautomaticmachineortheautomaticproductionlineloadingandunloadingandthetransmissionworkpiece,replacesthecuttingtoolinthemachiningcenterandsoon,generallydoesnothavetheindependentcontroldevice.Someoperatingequipmentneedsbythepersondirectcontrol,ifusesinthehostwhotheatomicenergydepartmentmanagesthedangerousgoodsfromthetypeoperatoralsooftenbeingcalledthemanipulator.Robotisatypeofmechantronicsequipmentwhichsynthesizesthelastresearchachievementofengineandprecisionengine,micro-electronicsandcomputer,automationcontrolanddrive,sensorandmessagedisposeandartificialintelligenceandsoon.Withthedevelopmentofeconomicandthedemandforautomationcontrol,robottechnologyisdevelopedquicklyandalltypesoftherobotsproductsarecomeintobeing.Thepracticalityuseofrobotproductsnotonlysolvestheproblemswhich3aredifficulttooperateforhumanbeing,butalsoadvancestheindustrialautomationprogram.Atpresent,theresearchanddevelopmentofrobotinvolvesseveralkindsoftechnologyandtherobotsystemconfigurationissocomplexthatthecostatlargeishighwhichtoacertainextentlimittherobotabroaduse.Todevelopmenteconomicpracticalityandhighreliabilityrobotsystemwillbevaluetorobotsocialapplicationandeconomydevelopment.Withtherapidprogresswiththecontroleconomyandexpandingofthemoderncities,theletofsewageisincreasingquickly:Withthedevelopmentofmoderntechnologyandtheenhancementofconsciousnessaboutenvironmentreserve,moreandmorepeoplerealizedtheimportanceandurgentofsewagedisposal.Activebacteriamethodisaneffectivetechniqueforsewagedisposal，Thelacunarisplasticisaneffectivebasementforactivebacteriaadhesionforsewagedisposal.Theabundancerequirementforlacunarisplasticmakesitisaconsequentfortheplasticproducingwithautomationandhighproductivity.Therefore,itisverynecessarytodesignamanipulatorthatcanautomaticallyfulfilltheplasticholding.Withtheanalysisoftheproblemsinthedesignoftheplasticholdingmanipulatorandsynthesizingtherobotresearchanddevelopmentconditioninrecentyears,aeconomicschemeisconcludedonthebasisoftheanalysisofmechanicalconfiguration,transformsystem,drivedeviceandcontrolsystemandguidedbytheideaofthecharacteristicandcomplexofmechanicalconfiguration,electronic,softwareandhardware.Inthisarticle,themechanicalconfigurationcombinesthecharacterofdirectioncoordinateandthearthrosiscoordinatewhichcanimprovethestabilityandoperationflexibilityofthesystem.Themainfunctionofthetransmissionmechanismistotransmitpowertoimplementdepartmentandcompletethenecessarymovement.Inthistransmissionstructure,thescrewtransmissionmechanismtransmitstherotarymotionintolinearmotion.Wormgearcangivevarytransmissionratio.Bothofthetransmissionmechanismshaveacharacteristicofcompactstructure.Thedesignofdrivesystemoftenislimitedbytheenvironmentconditionandthefactorofcostandtechnicallever.Thestepmotorcanreceivedigitalsignaldirectlyandhastheabilitytoresponseouterenvironmentimmediatelyandhasnoaccumulationerror,whichoftenisusedindrivingsystem.Inthisdrivingsystem,open-loopcontrolsystemiscomposedofsteppingmotor,whichcansatisfythedemandnotonlyforcontrolprecisionbutalsoforthetargetofeconomicandpracticality.Onthisbasis，theanalysisofsteppingmotorinpowercalculatingandstyleselectingisalsogiven.Theanalysisofkinematicsanddynamicsforobjectholdingmanipulatorisgivenincompletingthedesignofmechanicalstructureanddrivesystem.Kinematicsanalysisisthebasisofpathprogrammingandtrackcontrol.Thepositiveandreverseanalysisofmanipulatorgivestherelationshipbetweenmanipulatorspaceanddrivespaceinpositionandspeed.Therelationshipbetweenmanipulatorstippositionandarthrosisanglesisconcludedbycoordinatetransformmethod.Thegeometrymethodisusedinsolvinginversekinematicsproblemandtheresultwillprovidetheoryevidenceforcontrolsystem.This4chamfer,Newton-Euripidesmethodisusedinanalysisdynamicproblemof七h(yuǎn)ecleaningrobotandthearthrosisforceandtorquearegivenwhichprovidethefoundationforstepmotorselectingandstructuredynamicoptimalting.Controlsystemisthekeyandcorepartoftheobjectholdingmanipulatorsystemdesignwhichwilldirecteffectthereliabilityandpracticalityoftherobotsysteminthedivisionofconfigurationandcontrolfunctionandalsowilleffectorlimitthedevelopmentcostandcycle.WiththedemandofthePCL-839card,thePCcomputerwhichhasa.tightstructureandiseasytobeextendedisusedastheprincipalcomputercellandtakesthefunctionofsysteminitialization,dataoperationanddispose,stepmotordriveanderrordiagnoseandsoon.Atthesametime,theconfigurationstructurefeatures,taskprinciplesandthepositionfunctionwithhighprecisionofthecontrolcardPCL-839areanalyzed.Hardwareisthematterfoundationofthecontrol.Systemandthesoftwareisthespiritofthecontrolsystem.Thetargetofthesoftwareistocombineallthepartsinoptimizingstyleandtoimprovetheefficiencyandreliabilityofthecontrolsystem.Thesoftwaredesignoftheobjectholdingmanipulatorcontrolsystemisdividedintoseveralblockssuchassysteminitializationblock,dataprocessblockanderrorstationdetectanddisposemodelandsoon.PCL-839cardcansolvethecommunicationbetweenthemaincomputerandthecontrolcellsandtakethemeasureofreducingtheinfluenceoftheoutersignaltothecontrolsystem.Thestartandstopfrequencyofthestepmotorisfarlowerthanthemaximumrunningfrequency.Inordertoimprovetheefficiencyofthestepmotor,theinc