搜索
：《》TheDesignandImplementationofMulti-DOFMicro-manipulator(1.;2.)121:、。5,。/,DSP2812CPLD3128。,,、。:;;DSP2812;:TP241.3:AAbstract:SpaceManipulatorfacesthedevelopmenttrendoflightweight,mini-typeandlow-power-consuming.Themechanicalstruc-tureofmicro-manipulatorwith5-DOFisdesigned,andthemotors?aswellasotherequipmentsareselected.Withtheupper/lowercontrolarchitecture,thecontrolsystemisconstructedbasedonDSP2812andCPLD3128.Atlast,themicro-manipulatorsystemisfixedonthesatellitesimulator.Guidedbythedual-visionsystem,theactions,suchasclamping,cuttingandinserting&drawingwithakeycomponentofafixedtarget,areaccomplished.Keywords:space-manipulator;multi-DOF;DSP2812;controlsystem:1008-0570(2010)09-2-0147-02,。,,、、,。。(NASA)(SRMS),1981,,JOD;1993ROTEX,、ORU;1997NASDAETS-VII,;2005(ISS)Rokviss,、、。,(MSS),(JEMRMS)(ERA)。,21、,“、、”。,,、。,,。15,,。3mm,T,、,。1,、。4,,,、,、。11,。,。,,;,。、,。12,。,,。2。,03,l0l3,l3。,:147--《》：《》150g。2,,,,,1。Maxon,(“”“”,43,39Maxon),Maxon。MR,256,2。13/,,,[8]。PC,VC++6.0,DSP2812CPLD31285,C。/SCI/CC2431,、。3。3TMS320F2812,32DSP,150MHz,。5,1DSP2812,CPLDEPM3128,3,4。,L298P。L298P2H,4A。/MAX3232CC2431。CC243151CC2420,30MHz,38400bps。:,,,/CC2431;5/CC2431,;DSP2812,PWM,,,。445,,,/,DSP2812CPLD3128。912g,15w,、。5,,、,1mm,,,。:5,/,DSP2812CPLD3128,、,、。[1]S.Beland,.———[J].,2001(2):22-29.[2]G.Hirzinger,B.Brunner,J.Dietrich,etal.Sensor-BasedSpaceRobotics-ROTEXandItsTeleboboticFeatures[C].IEEETrans.onRoboticsandAutomation,Vol.9,No.5,1993:649-663.[3]Woo-KeunYoon,ToshihikoGoshozono,HiroshiKawabe,etal.Model-BasedTeleoperationofaSpaceRobotonETS-VIIUsingaHapticInterface[C].Proceedingsofthe2001IEEEInternationalConferenceonRobotics&Automation,Seoul,Korea,May21-26,2001:407-412.[4]G.Hirzinger,K.Landzettel,D.Reintsema,etal.ROKVISSRoboticsComponentVerificationonISS,Proc.ofThe8thInterna－tionalSymposiumonArtificialIntelligence,RoboticsandAutoma－tioninSpace,Munich,Germany,September5-8,2005:451-461.[5]SaviSachdev,BenoitMarcotte,GrahamGibbs.CanadaandtheInternationalSpaceStationProgram:OverviewandStatus[C].55thInternationalAstronauticalCongress2004vol.11,Vancouover(CA),Oct.4-8,2003:7405-7415.(165)148--：《》4.4TOA,,340m/s,c,1℃,0.6m/s。,,。:(3),T,c。,,T。DS18B20,。4.4.1DS18B20DallasDSl8B20,3.0~5.5V;-55℃~+125℃;,I/O;-10℃~+85℃0.5℃;9~12,“”,,。“”,。55.1ElectronicsWorkbenchMultisim。,4mv,400us,10ms,。4,,,。,,,,1mv,5,。41,256,TOA。,。,,,。,。:。,PIC,,,。,。[1].--[J].(),2007,6-3:38-40。[2]Woodetal,TransmitterPenLocationSystem,UnitedStatesPatent,Patent:USA6,414,673[P],2002-07-02。[3].[M].:,2005.5。[4],,.PIC[M].:,2006.6。[5],.DS18B20[J].,2005,1-1:224-226。[6],.DS18B20[J].,2009,3-2:105-106。:(1984-),,,,,;(1963-),,,,,。Biography:YUANMing(1984-),Male(Han),Graduate,controltheoryandcontrolengineering,studyonintelligentinstrumentsandinstrumentation.(330063):(330063696075)(:2009.11.21)(:2010.02.25)(148)[6]FumihiroKuwao.FutureSpaceRoboticsonJEMRMSDevelop－ment[C].Proceedingsofthe25thInternationalSymposiumonSpaceTechnologyandScience,Kanazawa(Japan),June4-11,2006:1547-1550.[7]R.Boumans,C.Heemskerk.TheEuropeanRoboticArmfortheinternationalspacestation[J].RoboticsandAutonomousSystems,Vol.23,No.1-2,1998:17-27.[8],,.[J].,2002,18-1:7-9.:(1981,2-),(),,,,;(1981,10-),(),,,;(1982,12-),(),,,,。Biography:YANGQing(1981,2-),male(TujiaNationality),ZhangjiajieCityinHunanProvince,docentofAcademyofE-quipmentCommand&Technology,master.ResearchDirection:pattern?identificationandintelligentsystem.(101416)(410073):(101416338095)(:2009.11.21)(:2010.02.25)165--