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摘要 随着机器人技术的飞速发展,工业机器人的应用领域正在不断的扩大,对教育培训部门提出了新的要求,为提高机器人教学的水平,我们研制了一套以实验教学为目的的机器人演示系统。
本文阐述了机器人的发展历程, 国内外的应用现状,及其巨大的优越性,提出具体的机器人设计要求,进行了本演示系统的总体方案设计和各自由度具体结构设计、计算;对演示系统的控制部分的研制,其中包括:进电机开环控制;光电码盘为反馈元件的,以 PWM 型功放电路为驱动器的直流电机闭环控制;以 89C51 单片机为核心,实现演示系统的键盘管理和 LCD 显示,并以单 CPU 分时控制形式,实现机器人运动的点位控制方式。
最后设计制定出利用本演示系统所开设的几个实验的指导书。
关键字:教学机器人、结构设计、闭环控制、演示实验 I Abstract With the development of robot technology the continual expansion ofapplication of industrial robots presents newrequire-ments before education andtraining agencies.We have developed a robot demonstration system forexperiments in training to improve the teaching effect of “Robot Teaching”. Firstly this paper discusses the development course the study both indemestic and in external the significant advantages of robot and then gives thesupporting source of the study and the technical requirements Secoundlythispaper discusses the overall design and calculation on each degree of freedom ,and about the study on the control part of the Training Robot systemwhichincludes the open-loop control of the stepping motor the digital closed-loopcontrol of the DC motor with an optical-electrical encoder as feedback cell andthe PWM power amplifier as driver .The keyboard management and the LCDdisplay is based on a 89C51 singal plate computer .It is achieved in point to pointcontrol by a singal CPU with share time. At the end it presents guidances to some experiments on the demonstrationsystem. Keywords: Training Robot、Structure Design、Closed-Loop Control 、Demonstrating Experiment. II 目 录摘要................................................................................................................................. 1Abstract ......................................................................................................................... 2第 1 章 绪论 .............................................................................................................. 1 1.1 机器人概述 .................................................................................................. 1 1.1.1 机器人的诞生与发展 .................................. 错误!未定义书签。
1.1.2 国内发展状况 ................................................................................... 2 1.1.3 国外机器人发展趋势 ...................................................................... 3 1.2 机器人产业对教育、培训的要求及本课题的提出 ............................... 3第 2 章 总体设计方案 .............................................................................................. 5 2.1 总体设计的思路.......................................................................................... 5 2.2 总体方案的确定................................................