本科毕业论文（设计）
( 2014 届)
6自由度机械臂控制系统设计（软件）院系电子信息工程学院专业电子信息工程
姓名许克伟
指导教师范程华讲师
2014年4月
摘要
本文设计了一种以STC89C52单片机为主控元件的六自由度机械臂抓取系统。文中给出了系统的硬件设计方案以及各个功能原理图，同时给出了软件系统设计方法。系统实现了自动寻找目标并自动实施抓取目标且可通过PC上位机实时显示和控制机械手臂的功能，并能实现自动探测手臂与目标之间距离。在设计时，由于需要测量的距离范围从几厘米到几十厘米，针对超声波在传播时振幅呈指数衰减的特性，为了最大限度地提高驱动能力，采用对回波进行多级放大，以达到了设计要求，由于各个模块供电要求不同，电源电路模块通过稳压芯片输出7.2V、5V和3.3V电压。软件主要分为超声波距离测量模块和无线通信模块、数据处理模块这三大模块。软件的这种“自顶向下”的模块化软件编程方法，能使软件的结构更清晰，并有利于软件的调试和修改。经过调试，达到能够实现自动抓取目标和手动控制抓取目标功能。
关键词：超声波；VB上位机；六自由度机械手臂；STC89C52
This paper designs a mechanical arm whose main control component is STC89C52 single-chip microcomputer and based on the six degrees of freedom to control scraping system. Hardware design scheme of the system and each functional machine schematic diagram are also given in this paper , software program design method is given at the same time, the system realizes the automatic searching target and the implementation of automatic grab and real-time display by PC ,and realizes the function of controlling mechanical arm, and can realize to automatically detect the distance between the arm and target, then implement real-time display on the upper machine. .When designing, due to the distance need to measure ranges from several centimeters to tens of centimeters, aiming at the characteristics of ultrasonic wave amplitude decay exponentially in transmission, in order to develop the drive ability maximally, the echo multistage amplifier is be adopted. Due to the different requirements for each module power supply, in order to achieve the design requirements, power supply circuit module output voltage 7.2V, 5V and 3.3V through the voltage regulator chip. The software is mainly divided into three modules : the ultrasonic distance measuring module and wireless communication module, data processing module. The "top-down" modular software programming method of software can make the software structure more clearly, and benefit in the debugging and modification of software. After debugging, it can realize the function of grabbing the target though automatically add manually control.
Key words: Ultrasonic wave;VB;Six degrees of freedom robotic arm;STC89C52
摘要 ............................................................................................................... I ABSTRACT ..................................................................................................... I I 目录 ............................................................................................................ III 1 引言 .. (1)
1.1选题的背景及意义 (1)
1.2国内外发展状况 (1)
1.3课题研究的主要内容 (2)
2 6自由度机械手臂控制系统的硬件设计 (3)
2.1硬件系统总体方案设计 (3)
2.2单片机最小系统电路设计 (4)
2.3超声波模块 (6)
2.4舵机控制模块 (6)
2.5NRF905无线收发模块 (8)
2.6电源电路模块 (10)
2.7VB上位机界面 (11)
3 系统软件设计 (11)
3.1软件设计流程图 (11)
3.2主程序结构流程图 (12)
4 调试 (13)
4.1软硬件调试及性能调试过程 (13)
4.2调试结果 (14)
4.3结果分析 (14)
5 总结 (14)
参考文献 (15)
附录 (17)
