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毕业设计(或论文)说明书页I毕业设计说明书-机器人五自由度机器人结构设计毕业设计(或论文)说明书页II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、演示实验毕业设计(或论文)说明书页IIIAbstractWiththedevelopmentofrobottechnology,thecontinualexpansionofapplicationofindustrialrobotspresentsnewrequire-mentsbeforeeducationandtrainingagencies.Wehavedevelopedarobotdemonstrationsystemforexperimentsintrainingtoimprovetheteachingeffectof“RobotTeaching”.Firstly,thispaperdiscussesthedevelopmentcourse,thestudybothindemesticandinexternal,thesignificantadvantagesofrobotandthengivesthesupportingsourceofthestudyandthetechnicalrequirements,Secoundly,thispaperdiscussestheoveralldesignandcalculationoneachdegreeoffreedom，andaboutthestudyonthecontrolpartoftheTrainingRobotsystem,whichincludestheopen-loopcontrolofthesteppingmotor,thedigitalclosed-loopcontroloftheDCmotorwithanoptical-electricalencoderasfeedbackcellandthePWMpoweramplifierasdriver.ThekeyboardmanagementandtheLCDdisplayisbasedona89C51singalplatecomputer.ItisachievedinpointtopointcontrolbyasingalCPUwithsharetime.Attheend,itpresentsguidancestosomeexperimentsonthedemonstrationsystem.Keywords:TrainingRobot、StructureDesign、Closed-LoopControl、DemonstratingExperiment.毕业设计(或论文)说明书页IV目录摘要...........................................................................................................................1Abstract....................................................................................................................3第1章绪论..........................................................................................................11.1机器人概述.............................................................................................11.1.1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...............................................................................21.1.3国外机器人发展趋势...................................................................31.2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..........................................................................................52.1总体设计的思路......................................................................................52.2总体方案的确定......................................................................................52.2.1坐标形式的选择...........................................................................62.2.2驱动系统的类型选择...................................................................62.2.3各部位传动机构的确定...............................................................62.2.4外形尺寸和运动范围的确定.......................................................72.2.5控制系统的确定...........................................................................7第3章结构设计及计算......................................................................................93.1手部夹持器的结构设计..........................................................................93.1.1概述...............................................................................................93.1.2手部的结构和手指形状的确定...................................................93.1.3手部驱动力的计算和电机的选择.............................................103.2腕部结构设计........................................................................................133.2.1概述.............................................................................................133.2.2腕部结构设计.............................................................................143.3臂部及机身（底座）的设计计算........................................................183.3.1概述.............................................................................................183.3.2结构设计计算.............................................................................19第4章控制系统设计........................................................................................254.1控制系统方案的确定............................................................................25毕业设计(或论文)说明书页V4.1.1控制方案的确定.........................................................................254.1.2驱动方式的确定.........................................................................254.1.3控制系统类型的确定.................................................................254.1.4步进电机控制方式的确定.........................................................264.1.5直流电机控制方式的确定.........................................................264.1.6键盘及显示方式的确定.............................................................264.2演示系统的组成....................................................................................264.3驱动电路的研制....................................................................................294.3.1恒流源型步进电机驱动电路的研制.........................................294.3.2双极型PWM直流力矩电机的驱动电路的研制.....................314.3.3光电码盘的选择和辩向电路的研制，.....................................334.3.4直流电机的闭环控制系统的研制。.........................................364.