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1、本科毕业设计外文文献及译文文献、资料题目：The Design and Use of 3Dof Manipulatoras a Platform for Education in Mechatronics文献、资料来源： Technology of us文献、资料发表（出版）日期：2013.2院 （部）：机电工程学院专 业：机械工程及自动化班 级：机械xxx姓 名：xxx学 号： xxxx指导教师： xxxx翻译日期： 2015.03.10外文文献： The Design and Use of 3DOF Manipulator Abstract This article deals with
2、the manipulator applied as an educational platformin mechatronics. All important parts of the design procedure are presented,including mechanical construction, electronics, control and safety management,with the use of additional sensors. The visual tracking of the end effector as anexample of the p
3、ractical task is also described.1 IntroductionCurrently, the use of different kinds of manipulators has expanded to various industries,where they have increasingly replaced humans. For education in mechatronicsit is therefore desirable to have an educational platform which could showproblems of the
4、design and use of such manipulators 1, 2, 3.This educational platform should be composed of commercially available components(COTS), should ensure modularity and total openness with the possibilityof placing additional sensors. Such a teaching tool would be suitable for teachingthe kinematics and dy
5、namics of manipulators as well as for the classical and advancedcontrol algorithms 4 which use the identified model of the plant. Theeducational platform should be capable of high dynamics movements, in order toshow the influence of dynamic motion and gravitational forces.Today the most widespread e
6、ducational tool is Lego Mindstorm 5. Due to thelarge clearances of Lego parts, it was not possible to achieve very precise anddynamic movements at the same time. Often used as an actuator for smalleducational manipulators, servo drives are commercially available 6. Their usesimplifies the design its
7、elf and consequently control of the manipulator. The disadvantageis, however, relatively little dynamic movement. Large and self-lockingthese actuators also present a simple way to demonstrate the influence of gravity.For the design of an educational model it was used enough to use dimensionedDC mot
8、ors geared to be sluggish. The design should be based on the kinematicand dynamic model of the manipulator in Simmechanics 7, 8.878 D. Klimes et al.2 Mechanical DesignThe three DOF (degrees of freedom) device of the RRR type has been chosen as arepresentative of a manipulator commonly used in the ro
9、botic industry. The bodyconsists of four parts, connected by rotary joints into an open chain mechanismfinished by an end effector. The aluminum frame provides both a rigid andsufficiently light construction. All three rotary joints are driven by direct currentmotors with worm gearboxes. Figure 1 sh
10、ows a CAD model of the device.Fig. 1 The manipulator CAD modelThe joint a.) controls rotation of the whole device in 320 range around itsaxis perpendicular to the base g.). The joint b.) moves arms e.) and f.) in a rangeof 270 and the last joint c.) ensures rotary movement of arm f.) in a range of29
11、0. The mechanical design of joints a.) and b.) is shown in the figures below indetail. Fig. 2 Left detail of the joint b.), right detail of the joint a.)The Design and Use of 3DOF Manipulator as a Platform for Education 8793 ElectronicsThe basic control hardware is the MF624 input/output card which
12、is commonlyused for education in mechatronics. This card generates and processes the signalsused to control the manipulator. Because the designed manipulator can achievevery dynamic movements, it is necessary for educational purposes to ensure safeoperation. For movement of the manipulator in the ar
13、ea of the work it has protectiveelectronics that evaluate the current state of the manipulator together withlimit switches, all on a hardware level. No overrun of allowable torque is providedby sensing the current (LEM), where the current value is evaluated in the software.Everything is integrated i
14、nto the library usable in Simulink.The power electronics consist of three full H-bridges, which are connected toDC motors. The complete diagram is shown in Fig. 3.Fig. 3 The complete diagram of electronics4 Control MethodsThe first and simplest method for manipulator control was to design a separate
15、PID regulator for each drive. Tuning of these PID regulators was quite easy due tothe powerful drives used.Second method was feedforward control. For this type of regulator an inversedynamic model of the manipulator was required 9. Some parameters of the dynamicmodel, for example dimensions, masses and inertia matrices of parts, werefound out from constructing a model in SolidWorks software. Other parameters,like for example friction coefficients, were found out experimentally.In Fig.4 it is obvious, that the manipulator control is based on f
