多指機器人靈巧手原理結(jié)構(gòu)設(shè)計

目錄
第一章．緒論·······························································1

1.1課題來源································································1

1.2機器手的定義·····························································1

1.3研究此課題的目的及意義···················································2

1.4國外研究狀況·····························································3

1.5國內(nèi)研究狀況·····························································5

本章小結(jié)·····································································8
　　
第二章．多指機器人靈巧手原理結(jié)構(gòu)設(shè)計·········································9

第三章．硬件的原理及選擇·····················································11

第四章．總結(jié)及展望····························································15

參考文獻(xiàn)·····································································16

致謝·········································································18

附錄 ········································································19

摘    要

　
　　　隨著信息技術(shù)的飛速發(fā)展，自動化成為21世紀(jì)制造業(yè)發(fā)展的重要趨勢。機器人已成為人類研究的熱點，而機器人末端——手也成為熱點之一。本文重點介紹了仿人靈巧手的發(fā)展，及國內(nèi)外近二十年來的典型仿人靈巧手的結(jié)構(gòu)和特點。對四指仿人靈巧手的結(jié)構(gòu)的選取以及在制作過程中出現(xiàn)的問題的解決辦法的說明，為深入研究該靈巧手的機構(gòu)提供了理論依據(jù)。研究了仿人靈巧手串口通信控制系統(tǒng)的實現(xiàn)模式，制定了控制系統(tǒng)總體方案。設(shè)計了仿人靈巧手硬件控制系統(tǒng)，由于使用mini USB32路舵機控制器，使得控制程序的編制效率大為提搞，詳細(xì)闡述了下位機控制系統(tǒng)硬件和軟件設(shè)計過程。實現(xiàn)了對靈巧手手各關(guān)節(jié)的控制。最后，對本文的工作做了總結(jié)，指出了工作的成果及意義，并對今后的進(jìn)一步工作進(jìn)行了展望。
　　
關(guān)鍵詞： 四肢靈巧手;結(jié)構(gòu)選取;串口通信
　　　　　　　　　　　　　　　　　
　Abstract

With the rapid development of information technology, automation to become a 21st century manufacturing development important trends. Robot has become a human research hot spot, and robot end has become one of the hotspots - hand. This paper introduces the development of humanoid dextrous hand at home and abroad, and the typical nearly two decades of humanoid dextrous hand structure and features. For four refers to the structure of humanoid dextrous hand in making the selection and appeared in the process of a solution to the problem of instructions, for further research on expeimental results provide theoretical basis for the institution. Research the humanoid dextrous hand serial interface communication control system realization model, the control system overall scheme formulated. Design the humanoid dextrous hand hardware control system, by using SSC - 32 servo motor controller, making control programming efficiency greatly is mention make, illustrates the next place machine control system hardware and software design process. Realize the dexterous hand hand of each joint control. Finally, for the work of this paper summarizes the achievements, points out the work and significance, and the further work for the future was prospected.

Keywords:Limb dexterous hand,Structure selection ,Serial communication