| Recently micro robotics, which can be classified as micro-robot and micromanipulator by their size and purpose respectively, is one of hottest areas of the robot research. Mciromanipulator, as one of the most important embranchments of micromanipulator, is the combination of robotic assembly and micromanipulation and it has a bright application foreground in the aspects such as micro-parts assembly, MEMS (Micro Electro Mechanical Systems) and precise optical projects. This dissertation, taken micro-assembly robot system as the background, mainly aims at the application of attitude adjustment. In addition, details are discussed in the following aspects: mechanical structure design of the end-effector attitude adjustment, circuit design of the driver and design of the control programme in both computer and driver. Furthermore, through the analysis of the mathematical model of the entire structure, the feasibility of the design is proved theoretically and practically.With the support of the National High Technology Research and Development Program of China, a special unit based on the self-designed microassembly robot system is designed to solve the problem that the end-effector lacks an effective attitude adjustment manner in the practical assembly task. This structure can realize an arbitrary attitude adjustment on the original system.The main innovation of this dissertation is that the designed structure can be independent of the original system and adjust the attitude of the end-effector without changing its position. The importance of attitude adjustment to the entire system is discussed in detail in this dissertation. With the consideration of function requirement, system space size, visiual access and other system conditions, a mechanical structure scheme of attitude adjustment is designed, additionally, mathematical analysis is carried out according to its model and the feasibility of this structure is guaranteed by the corresponding knowledge of robot kinematics. Moreover, above this structure a motor driver block is designed based on the micro controller TMS320F2812, realizing the functions, which are necessary to attitude adjustment, such as clockwise and anticlockwise running, limitation detection and emergent stop effectively. Finally, a special control test programme is developed with the integrate development environment VC6.0 for operators to switch to control each motor directly and conveniently.Analysis and research are done on the designed structure both theoretically and practically, the experiment result indicates that it satisfies the system requirements and has a practical benefit. |
PDF Full Text Request