基于STM32的小型机械手的设计与控制方法  

Design and Implementation of Manipulator Based on PWM Technology

作　　者：刘士川[1,2] 邓甲昊[1,2] 占银玉[1,2] 叶勇[1,2] LIU Shichuan DENG Jiahao ZHAN Yinyu YE Yong(Science and Technology on Electromechanical Dynamic Control Laboratory,Beijing 100081, China School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China)

机构地区：[1]北京理工大学机电动态控制重点实验室,北京100081 [2]北京理工大学机电学院,北京100081

出　　处：《探测与控制学报》2017年第2期19-23,共5页Journal of Detection & Control

摘　　要：针对机器手的每个关节需要进行位置和速度的控制,而伺服电机、步进电机等控制存在成本高,控制精度不够等问题,提出了基于STM32的小型机械手的设计与控制方法。相对于电机控制来说,基于脉宽调制技术控制的舵机机械手臂有其控制简单、灵活和动态响应好、价格便宜等优点。设计了机械手臂的整体结构,分析了码垛机械手的脉宽调制驱动方法,并在结构设计的基础上进行了运动学分析,得出了机械手的末端位姿。对机械手抓取目标物的控制系统进行了设计、编程及仿真实验,采用实体建模软件Solidworks建立小型码垛机械手臂虚拟样机模型。基于该模型,设计了抗环境噪声与电路自身噪声问题的电路,进行多次搬运实验。实验证明,该方法可以实现机械手对物体的准确抓取、运送等工作,有效地避免了电机定位不准、价格昂贵的情形,使得控制更为简单灵活。In this paper,we presented the STM32 design of small robots and control method for machine hand of each joint, which need low cost and high precision location and speed of control. For the electro-mechanical con-trol, this method was easy and flexible, it had the fast dynamic response and the expense was cheap. First of all ,we introduced the architecture of the palletizing manipulator, analyzed the PWM technology. Secondly, we an-alyze the kinematics characteristic based on the structure to get the position of the manipulator end effector. We carried on the design, programming and the simulation experiments to the robot-control system, adopted 3D en-tities modeling software Solidworks which had established the virtual prototype model of the palletizing manipu-lator.

关 键 词：脉宽调制控制 机械手 运动学分析 结构建模 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]