多指机器人灵巧手原理结构设计.rar

多指机器人灵巧手原理结构设计

目录
第一章．绪论·······························································1

1.1课题来源································································1

1.2机器手的定义·····························································1

1.3研究此课题的目的及意义···················································2

1.4国外研究状况·····························································3

1.5国内研究状况·····························································5

本章小结·····································································8
　　
第二章．多指机器人灵巧手原理结构设计·········································9

第三章．硬件的原理及选择·····················································11

第四章．总结及展望····························································15

参考文献·····································································16

致谢·········································································18

附录 ········································································19

摘    要

　
　　　随着信息技术的飞速发展，自动化成为21世纪制造业发展的重要趋势。机器人已成为人类研究的热点，而机器人末端——手也成为热点之一。本文重点介绍了仿人灵巧手的发展，及国内外近二十年来的典型仿人灵巧手的结构和特点。对四指仿人灵巧手的结构的选取以及在制作过程中出现的问题的解决办法的说明，为深入研究该灵巧手的机构提供了理论依据。研究了仿人灵巧手串口通信控制系统的实现模式，制定了控制系统总体方案。设计了仿人灵巧手硬件控制系统，由于使用mini USB32路舵机控制器，使得控制程序的编制效率大为提搞，详细阐述了下位机控制系统硬件和软件设计过程。实现了对灵巧手手各关节的控制。最后，对本文的工作做了总结，指出了工作的成果及意义，并对今后的进一步工作进行了展望。
　　
关键词： 四肢灵巧手;结构选取;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