基于STM32的多功能翻身系统设计与控制
|
摘要
经过对机构设计原理以及控制理论的长期研究,作者设计了一种可以实现多角度,多个方向,可以人为控制启动和停止的多功能智能翻身系统[7];文章主要阐述了翻身系统的机构设计以及控制原理;机械结构部分包括机械功能介绍以及Solid works软件实现的机械结构原理图;控制部分主要包括以ARM8/STM32F407为核心的硬件设计,自主设计底板以保证各部分功能的实现;软件部分是在KEIL5的开发环境下,通过C语言编写程序对I/O口高低电平进行控制,实现电机的运行从而保证翻身机构的平稳运行;最后,通过Mental软件验证了控制方法的可行性,通过Solid works对运动轨迹进行仿真保证机械结构设计的可行性。
After long-term research on mechanism design principle and control theory,the authors design a multi-functional intelligent turning over system which can realize multi-angle,multi-direction and can be started and stopped manually.This paper mainly expounds the mechanism design and control principle of the turning system.The mechanical structure part includes mechanical function introduction and mechanical structure schematic diagram of Solid works software.The control part mainly includes the hardware design with ARM8/STM32F407 as the core,and the floor is designed independently to ensure the realization of all functions.In the software part,under the development environment of KEIL5,I/O port high and low level is controlled by programming in C language,so as to achieve the motor operation and ensure the stable operation of the turning mechanism.Finally,the feasibility of the control method was verified by mental software,and the feasibility of mechanical structure design was guaranteed by Solid works' simulation of motion trajectory.
After long-term research on mechanism design principle and control theory,the authors design a multi-functional intelligent turning over system which can realize multi-angle,multi-direction and can be started and stopped manually.This paper mainly expounds the mechanism design and control principle of the turning system.The mechanical structure part includes mechanical function introduction and mechanical structure schematic diagram of Solid works software.The control part mainly includes the hardware design with ARM8/STM32F407 as the core,and the floor is designed independently to ensure the realization of all functions.In the software part,under the development environment of KEIL5,I/O port high and low level is controlled by programming in C language,so as to achieve the motor operation and ensure the stable operation of the turning mechanism.Finally,the feasibility of the control method was verified by mental software,and the feasibility of mechanical structure design was guaranteed by Solid works' simulation of motion trajectory.
引文
[1]程武山.智能控制理论方法与应用[M].清华大学出版社,2009.12:42-55.
[2]任路.并行结构机器人运行学研究及误差分析[R].西安交通大学,2001:51-53.
[3]杨寅华.均热炉复杂过程混合模糊控制器的建立[J].自动化仪表,2008,29(1):27-29.
[4]郝旭乾,陈劲杰,邓光伟.多功能机器人控制算法的研究[J].通信电源技术,2014,31(6):19-23.
[5]薛明瑞,高奇峰,胡红钱,等.基于几何法并联机器人运动学分析[J].机械设计与制造,2017,29(1):258-260.
[6]谢维.平面机构结构和控制的并行设计[R].西南交通大学,2003:55-59.
[7]王冰,袁雷,李东阳.并联平面平动机器人运动学分析及其仿真[J].机床与液压,2007,35(7):213-216.
[8]曹成涛,许伦辉,赵雪,等.四轴工业机器人运动控制与视觉码垛[J].机械设计与制造,2016,11(11):158-161.
[9]王福斌,王福平,陈至坤,等.天车机器人设计[J].机床与液压,2015,43(21):51-53.
[10]方浩.并行机器人安全机构设计与控制问题研究[R].西安交通大学,2002:85-89.
[2]任路.并行结构机器人运行学研究及误差分析[R].西安交通大学,2001:51-53.
[3]杨寅华.均热炉复杂过程混合模糊控制器的建立[J].自动化仪表,2008,29(1):27-29.
[4]郝旭乾,陈劲杰,邓光伟.多功能机器人控制算法的研究[J].通信电源技术,2014,31(6):19-23.
[5]薛明瑞,高奇峰,胡红钱,等.基于几何法并联机器人运动学分析[J].机械设计与制造,2017,29(1):258-260.
[6]谢维.平面机构结构和控制的并行设计[R].西南交通大学,2003:55-59.
[7]王冰,袁雷,李东阳.并联平面平动机器人运动学分析及其仿真[J].机床与液压,2007,35(7):213-216.
[8]曹成涛,许伦辉,赵雪,等.四轴工业机器人运动控制与视觉码垛[J].机械设计与制造,2016,11(11):158-161.
[9]王福斌,王福平,陈至坤,等.天车机器人设计[J].机床与液压,2015,43(21):51-53.
[10]方浩.并行机器人安全机构设计与控制问题研究[R].西安交通大学,2002:85-89.
© 2004-2018 中国地质图书馆版权所有 京ICP备05064691号 京公网安备11010802017129号 地址：北京市海淀区学院路29号 邮编：100083 电话：办公室：(+86 10)66554848；文献借阅、咨询服务、科技查新：66554700 |