摘要近些年，工厂的生产成本和生产要求在急剧上升，人们对产品的品质要求也在不断的提高。本课题根据上述需求做出一款基于舵机的简易手臂机器人，来代替人工进行需要重复的有高精度要求的生产需求。
本设计利用高扭矩，高精度，刚度强的舵机和飞思卡尔K60单片机做出了一套可以长时间高精度运行的机械臂。通过上位机发送数据，单片机将无线模块接收到的数据进行处理，调节PWM波的占空比来实现机械臂的控制。本课题主要研究的基于舵机的简易手臂机器人，将研究重点放在简化串联机械结构，进行完整的模型建立，稳定的串口数据传输，精确控制方面，并通过Visual Basic上位机控制机械臂的运行来检验该设计的完整性与可行性。49299
该论文有图21幅，表1个，参考文献20篇。
毕业论文关键词：智能 舵机 串联机器人
The Design Of Simple Arm Robot Based On Steering Gear
Abstract
In recent years, the factory's production cost and production requirements in a sharp rise, people's quality requirements of the product is also constantly improving. According to the above requirements, this paper makes a simple arm robot based on the steering gear, to replace the manual for the need to repeat the production of high accuracy requirements.
This design uses high torque, high precision, stiffness of the steering engine and the Freescale K60 single chip to make a set of long time high precision operation of the mechanical arm. Through the host computer sends the data, the monolithic integrated circuit will receive the data which the wireless module carries on rocessing, the astrol of the control of the PWM wave duty cycle to realize the mechanical arm. The main content of this paper is to study the simple arm robot based on the steering gear, focuses on the simplified tandem mechanical structure, to build the complete model, stability of serial data transmission, precise control, and through the visual basic PC control the operation of the mechanical arm to test the completeness and feasibility of the design.
This paper includes 21 figures, 1 tables, 20 references.
Key words: intelligent servo series robot
目 录
摘 要 IV
Abstract IV
1概述 1
1.1 课题背景及研究的目的和意义 1
1.3 主要研究内容 2
2系统总体方案设计 3
2.1机械结构简介 3
2.2电机的选择 3
2.3 整体设计方案 5
3硬件电路设计 6
3.1单片机电路设计 6
3.1.1 晶振电路的设计 6
3.1.2单片机仿真的方案 7
3.1.3 串口通信电路的设计 8
3.1.4 复位电路的设计 9
3.2 执行机构的设计 9
3.3 电源电路的设计 10
3.4 无线模块的设计 11
3.5系统硬件调试 13
4数学模型的建立 14
4.1 模型建立方法 14
4.2 三维坐标的建立 K60单片机基于舵机的简易手臂机器人设计+程序+电路图:http://www.751com.cn/zidonghua/lunwen_52259.html