Abstract
The machine arm is an importance of robot part, and the machine arm can replace a person to do some more dangerous works, sothat more and more people to study concerning machine arm a control a technique, make the control technique of machine arm also get a very big development.Draw lessons from a lot of on the market to the design technique of machines arms, the graduation design of this time is according to PCI-7401 total line of machine hand level control system, request to design 1 two freedom degrees the machine hand of two joints, let it occupy the function that the freedom revolve, and we design a little bit good actions.Be understand the structure characteristics of machine hand, and the development of machine hand, there is also the purpose of our request to it and experiment, we designed to connect a people's plank, power enlarger, pulse width to make a control system that electric circuit and machine hand constitute by PCI-7401 total lines, write procedure to carry on an operation to the machine hand through a calculator and complete various function that we request.
In this graduate design process, I was mainly completed by the signal amplifier circuit with pulse modulation (PWM), H-pulsed power amplifier system consisting of a complete PCB plans to complete the kind of circuit boards, circuit boards Following the adoption of debugging, and then through the VC software programming, to achieve the ultimate goal, we have successfully achieved a mechanical hand to the fixed-point and closed-loop feedback.
Keywords: Machine Hand;The PCI Interface board; The PWM Control;Closed-loop feedback