Snatch Target Object By Manipulator

The manipulator is a type of mechantronics equipment which synthesizes the last research achievement of engine and Precision engine, micro-electronics and computer, automation control and drive, sensor and message dispose and artificial intelligence and so on. With the development of electronic and the demand for automation control .Robot technology is developed quickly and all kinds of manipulator products are coming into being. The manipulator is used in different environment .TO hold steadily , good adaptation to different environment ,simple control, strong adaptation, high autonomy are the important signs for the level of the design of manipulator. To study and develop a robot of good performance is a hard task , it conclude the realize of technology and the study of theory. Recent years the technology of robot developed quickly. And the study of manipulator has come into a good develop moment. The manipulator is developing from easy to difficult from complex to smart. The humanoid smart manipulator can works as good as true human hand. To hold the target object steadily by manipulator is a task needed to be discussed for a long time.Based on the introduce of both the study on the technology and the situation of the development of manipulator. This paper designed a small and light manipulator system which can snatch target object. First, the thesis researched the characteristric of manipulator design as a whole and selection of partial structure units. It designed a five degree of freedom manipulator. Then this paper present a detailed designs simple for the mechanical hand and programmed the simulation by Matlab software to test the equation .After that according to the demand of steadily snatching I choose the sensor fitted this system. Then designed the circuit for Signal Processing. Then designed the hardware system with the MCU as the control unit to control the stepper motor to realize the function of the manipulator through the motor drive module. Then programmed the process concluded the main program process and the date process program and the PWM subdivision process and so on . .This study would provide theoretical base for further designing.