大尺寸薄壁零件移位机械手控制系统设计

本文研究设计一种机械手控制系统,用于大尺寸薄壁零件,这种零件脆性大、形状复杂,搬运和装配要求严格控制零件的位置、方位和姿态,为此设计了专用的零件运输车。本文所设计的薄壁零件移位机械手控制系统,采用单片机C8051F021及可编程逻辑器件CPLD对机械手进行控制,完成运输车手动自动操作、电池电量检测、自动报警等功能。本文主要阐述了机械手的整体结构功能、控制主板电路的组成和控制方法,重点描述了硬件设计中的直流电机控制模块及电池电量检测模块,介绍了系统通讯部分设计及软件实现方法。经实验验证,该系统达到了预期的目标,在工业等领域有着广泛的应用前景。

Design of the transport cart control system

This paper designs a manipulator control system for the big dimension thin-wall workpiece, which is thin-walled with high brittleness and complicated structure, and requires precision position, direction and posture during carrying and transferring. Therefore we designed a special transport cart for this kind of thin-walled work pieces. The manipulator control system presented in this paper consists of the single chip C8051F021 and the programmable logic device CPLD.The cart has the functions such as operating both automatically and manually, monitoring the voltage of the battery, alarming and so on. This paper mainly describes the structure and function of the transport cart and the control method of the circuit, including the motor control module and the battery voltage monitoring module. Finally, the communication part and the software programming part of the system are presented. The experiment result shows that this control system meets the expected requirements and can be widely applied to the industry field.