CN106272400A - A kind of special steering engine driving device of six degree of freedom mechanical arm - Google Patents
A kind of special steering engine driving device of six degree of freedom mechanical arm Download PDFInfo
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- CN106272400A CN106272400A CN201610766167.8A CN201610766167A CN106272400A CN 106272400 A CN106272400 A CN 106272400A CN 201610766167 A CN201610766167 A CN 201610766167A CN 106272400 A CN106272400 A CN 106272400A
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- module
- pwm
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- control module
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Power Steering Mechanism (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention belongs to device drives technical field, relate to a kind of special steering engine driving device of six degree of freedom mechanical arm, power module electrically connects to provide working power with main control module, serial port module and PWM output module respectively；Main control module is connected with serial port module electrical information and realizes data communication facility；PWM output module is connected with main control module electrical information and realizes control to steering wheel action with output pwm signal；Described main control module is to be constituted by according to electrical principles interconnective STM32F103RBT6 microprocessor, external crystal-controlled oscillation, reset circuit and start-up mode selection circuit；Described serial port module is the USART1 bringing-out mouth of STM32F103RBT6 microprocessor in main control module；Described PWM output module is the module directly driving outside steering wheel, and described power module is made up of two groups of decompression converting circuits；This steering engine driving device low cost of manufacture, controls accurately, function admirable, simple installation.
Description
Technical field:
The invention belongs to device drives technical field, relate to a kind of steering engine driving device based on STM32F103RBT6, special
That one is specifically designed to driving six degree of freedom mechanical arm device, have that driving force is strong, stable performance, the spy such as with low cost
Point.
Background technology:
Mechanical arm is the automated machine device obtaining broad practice in robot technical field, in industry system
Make, therapeutic treatment, entertainment service, military field, semiconductor manufacturing, explosive recover and the field such as space probation is widely used.
Although their form is had nothing in common with each other, but there is a common feature can accept instruction, be precisely positioned to three-dimensional
(or two dimension) certain point spatially carries out operation.Mechanical arm according to the difference of version be divided into multi-joint manipulator arm,
Rectangular coordinate system mechanical arm, spherical coordinate system mechanical arm, polar coordinate mechanical arm, cylindrical coordinates mechanical arm etc., relatively common
For six degree of freedom mechanical arm, it is moved by X, Y moves, Z moves, X rotates, Y rotates, Z rotates six-freedom degree and forms, i.e.
The degree of freedom rotated on tri-coordinate axess of XYZ and the degree of freedom moving tri-coordinate axess of XYZ, have the mechanical hand of six degree of freedom
End can complete any action in three dimensions within the specific limits.
During reality realizes, the action of each degree of freedom is completed by a steering wheel, and i.e. six degree of freedom is dynamic
Make to need six steering wheels to realize.In general, when controlling six degree of freedom mechanical arm action, the steering wheel in each joint can be by
Single-chip microcomputer directly exports PWM and controls；But in view of the problem of Micro Controller Unit (MCU) driving ability, the most then need to pass through servo driving
Plate drives the work of every road steering wheel, thus the driving force of actuator driving plate directly affects the operational effect of this mechanical arm.
Mostly there is both sides defect in actuator driving plate of the prior art: on the one hand, and most actuator driving plates are all integrated with 20
Or 30 is more than tunnel, not only make most vacant waste of route, and the power supply matched therewith, chip and printed circuit board (PCB) etc. are equal
Prescription is higher, causes overall driving plate cost high；On the other hand, the control chip model of most of actuator driving plates is all
It is secrecy, causes accurate evaluation be cannot be carried out for the parameter of the aspects such as control chip performance and cost.Therefore the application is originally
Principle cost-effective on the premise of function admirable, design a kind of base being specifically designed to and driving six degree of freedom mechanical arm
Steering engine driving device in STM32F103RBT6, it is possible to realize accurately controlling to complete various action mechanical arm.
Summary of the invention:
It is an object of the invention to the shortcoming overcoming prior art to exist, design one is specifically designed to six degree of freedom mechanical hand
The steering engine driving device of arm, it has enough driving forces, and stable performance, with low cost, control accurately.
The agent structure of the steering engine driving device that the present invention relates to include main control module, serial port module, PWM output module and
Power module forms, and power module electrically connects with main control module, serial port module and PWM output module to provide work electricity respectively
Source；Main control module is connected with serial port module electrical information and realizes data communication facility；PWM output module is with main control module electrical information even
Connect and realize the control to steering wheel action with output pwm signal；Described main control module is by interconnective according to electrical principles
STM32F103RBT6 microprocessor, external crystal-controlled oscillation, reset circuit and start-up mode selection circuit are constituted, and wherein external crystal-controlled oscillation is
OSC_IN port and OSC_OUT port, reset circuit is NRST port, and start-up mode selection circuit is BOOT0 and BOOT1 end
Mouthful；Described serial port module is the USART1 bringing-out mouth of STM32F103RBT6 microprocessor in main control module, and USART1 is
Universal synchronous/asynchronous serial reception/transmitter i.e. PA9 and PA10 port, it is possible to realize the download program to STM32F103RBT6
And and computer terminal host computer between serial communication；Described PWM output module is the module directly driving outside steering wheel, energy
Enough dutycycles by changing PWM realize the adjustment of the corner numerical value to steering wheel, PWM output port and master in PWM output module
In control module, PA4, PA5, PC1, PC3, PC13 of STM32F103RBT6 microprocessor are corresponding with PB15 port connects；Described electricity
Source module is made up of two groups of decompression converting circuits, with respectively obtain the out-put supply of+5V and+3.3V be supplied respectively to main control module,
+ 5 ,+3.3 and GND ports in serial port module and PWM output module；Described steering engine driving device operation principle is: driven by steering wheel
After dynamic device is connected with external power source, power module supply institute after external power source being converted into the running voltage that each module needs
There is module；After powering on, advanced horizontal reset operation is to recover to default conditions for main control module, then raw according to the program being previously written
Six road PWM transmission required for one-tenth are to PWM output module, and PWM output module is defeated by six road PWM output ports by six road PWM
Go out to steering wheel, make steering wheel produce different corners by the dutycycle of regulation PWM and work to control steering wheel；Main control module passes through
Carrying out serial communication between serial port module and computer terminal host computer, computer terminal host computer sends parameter according to the agreement of regulation
To main control module, main control module is according to the numerical value in the parameter real time modifying pre-set programs received, thus changes PWM output module
The PWM of middle output, to realize controlling the duty of steering wheel in real time.
Further, PWM totally six tunnel of described PWM output module output, for realizing the control to six degree of freedom respectively,
The PWM on every road is made up of power supply, the earth and PWM output port, and the PWM output port on every road can be by control after being connected with steering wheel
The dutycycle of system output PWM realizes the control to steering wheel work.
Further, described power module agent structure includes two groups of decompression converting circuit compositions, one group of blood pressure lowering conversion electricity
Road is the change-over circuit that+7.2V is depressured to+5V, and another group decompression converting circuit is the conversion electricity that+5V is depressured to+3.3V
Road, thus respectively obtain the out-put supply of+5V and+3.3V, often organize between the positive source of decompression converting circuit and the earth and connect
There is decoupling capacitor, thus reduce load and bring the ripple of power supply.
Compared with prior art, overall driving plate uses modular design method to the present invention, and modules is the most relatively independent
The most mutually coordinated, it is possible to the preferably work of safeguards system efficient stable；In main control module select control chip be 32 micro-
Processor STM32F103RBT6, powerful, cost are relatively low；PWM output module is provided with six road output ports, with respectively
Realize the control to six degree of freedom；This steering engine driving device low cost of manufacture, controls accurately, function admirable, simple installation.
Accompanying drawing illustrates:
Fig. 1 is the construction module schematic diagram of the steering engine driving device that the present invention relates to.
Fig. 2 is the structural principle schematic diagram of the main control module related in the present invention.
Fig. 3 is the structural principle schematic diagram of the serial port module related in the present invention.
Fig. 4 is the structural principle schematic diagram of the PWM output module related in the present invention.
Fig. 5 is the structural principle schematic diagram of the power module related in the present invention.
Detailed description of the invention:
Below by embodiment and combine accompanying drawing and be described further the present invention, but the present invention is not limited in following reality
Execute mode.
Embodiment:
The agent structure of the steering engine driving device that the present embodiment relates to includes that main control module 1, serial port module 2, PWM export mould
Block 3 and power module 4 (as shown in Figure 1) composition, power module 4 respectively with main control module 1, serial port module 2 and PWM output module
3 electrical connections are to provide working power；Main control module 1 is connected with serial port module 2 electrical information and realizes data communication facility；PWM exports
Module 3 is connected with main control module 1 electrical information and realizes control to steering wheel action with output pwm signal；Described main control module 1 be by
Electricity is selected according to electrical principles interconnective STM32F103RBT6 microprocessor, external crystal-controlled oscillation, reset circuit and start-up mode
Road is constituted, and wherein external crystal-controlled oscillation is OSC_IN port and OSC_OUT port, and reset circuit is NRST port, and start-up mode selects
Circuit is BOOT0 and BOOT1 port；Described serial port module 2 is STM32F103RBT6 microprocessor in main control module 1
USART1 bringing-out mouth, USART1 is universal synchronous/asynchronous serial reception/transmitter i.e. PA9 and PA10 port, it is possible to real
Now to the download program of STM32F103RBT6 and and computer terminal host computer between serial communication；Described PWM (pulse width
Degree adjusts) output module 3 be the module directly driving outside steering wheel, it is possible to by changing the dutycycle realization of PWM to steering wheel
The adjustment of corner numerical value, PWM output port and STM32F103RBT6 microprocessor in main control module 1 in PWM output module 3
PA4, PA5, PC1, PC3, PC13 are corresponding with PB15 port to be connected；Described power module 4 is made up of two groups of decompression converting circuits, with
Respectively obtain the out-put supply of+5V and+3.3V be supplied respectively to+5 in main control module 1, serial port module 2 and PWM output module 3 ,+
3.3 and GND ports；Described steering engine driving device operation principle is: after being connected with external power source by steering engine driving device, by power supply
Module 4 supplies all modules after external power source is converted into the running voltage that each module needs；Main control module 1 is first carried out after powering on
The operation that resets is to recover to default conditions, then defeated to PWM according to six road PWM transmission required for the Program Generating being previously written
Going out module 3, six road PWM are exported to steering wheel by PWM output module 3 by six road PWM output ports, by regulating the duty of PWM
Different corners is produced to control steering wheel work than making steering wheel；Main control module 1 is by serial port module 2 and computer terminal host computer
Between carry out serial communication, computer terminal host computer according to regulation agreement send parameter to main control module 1, main control module 1
According to the numerical value in the parameter real time modifying pre-set programs received, thus change the PWM of output in PWM output module 3, right to realize
The duty of steering wheel controls in real time.
STM32F103RBT6 microprocessor (as shown in Figure 2) described in the present embodiment is the master control core of main control module 1,
STM32F103 series is " enhancement mode " series in 32 ARM microcontroller that STMicw Electronics (ST) company produces, and has height
Effect of performance, low cost and low-power consumption, compared to traditional 51, AVR single chip speed faster, peripheral hardware resource more rich, can
The highest by property and extensibility, external 8MHz crystal oscillator can reach 72MHz as system clock after frequency multiplication of phase locked loop in inside.
PWM totally six tunnels (as shown in Figure 4) of PWM output module 3 output described in the present embodiment, for realizing respectively to six certainly
By the control spent, the PWM on every road is made up of power supply, the earth and PWM output port, and the PWM output port on every road is connected with steering wheel
After can by control output PWM dutycycle realize to steering wheel work control.
Power module 4 agent structure described in the present embodiment includes that two groups of decompression converting circuits form (as shown in Figure 5), one group
Decompression converting circuit is the change-over circuit that+7.2V is depressured to+5V, and another group decompression converting circuit is that+5V is depressured to+3.3V
Change-over circuit, thus respectively obtain the out-put supply of+5V and+3.3V, often organize positive source and the earth of decompression converting circuit
Between and be connected with decoupling capacitor, thus reduce load and bring the ripple of power supply.
Claims (3)
1. the special steering engine driving device of six degree of freedom mechanical arm, it is characterised in that agent structure includes main control module, string
Mouth die block, PWM output module and power module composition, power module respectively with main control module, serial port module and PWM output module
Electrical connection is to provide working power；Main control module is connected with serial port module electrical information and realizes data communication facility；PWM output module
It is connected with main control module electrical information and realizes the control to steering wheel action with output pwm signal；Described main control module is by according to electricity
Learn principle interconnective STM32F103RBT6 microprocessor, external crystal-controlled oscillation, reset circuit and start-up mode selection circuit structure
Becoming, wherein external crystal-controlled oscillation is OSC_IN port and OSC_OUT port, and reset circuit is NRST port, start-up mode selection circuit
For BOOT0 and BOOT1 port；Described serial port module is in main control module outside the USART1 of STM32F103RBT6 microprocessor
Drawing port, USART1 is universal synchronous/asynchronous serial reception/transmitter i.e. PA9 and PA10 port, it is possible to it is right to realize
The download program of STM32F103RBT6 and and computer terminal host computer between serial communication；Described PWM output module is straight
Connect the module driving outside steering wheel, it is possible to realized the adjustment of the corner numerical value to steering wheel by the dutycycle changing PWM, PWM is defeated
Go out STM32F103RBT6 microprocessor in PWM output port and main control module in module PA4, PA5, PC1, PC3, PC13 and
PB15 port correspondence connects；Described power module is made up of two groups of decompression converting circuits, to respectively obtain the defeated of+5V and+3.3V
Go out+5 ,+the 3.3 and GND ports that power supply is supplied respectively in main control module, serial port module and PWM output module；Described servo driving
Device operation principle is: after being connected with external power source by steering engine driving device, power module external power source is converted into each mould
All modules are supplied after the running voltage that block needs；After main control module powers on, advanced person's horizontal reset operates to recover to default conditions,
Then six road PWM required for the Program Generating that basis is previously written transmit to PWM output module, and PWM output module is by six tunnels
PWM by six road PWM output ports outputs to steering wheel, by the dutycycle of regulation PWM make steering wheel produce different corners with
Control steering wheel work；Main control module is by carrying out serial communication, on computer terminal between serial port module and computer terminal host computer
Position machine is according to the agreement transmission parameter specified to main control module, and main control module is according in the parameter real time modifying pre-set programs received
Numerical value, thus change in PWM output module the PWM of output, to realize the duty of steering wheel is controlled in real time.
The special steering engine driving device of six degree of freedom mechanical arm the most according to claim 1, it is characterised in that described PWM is defeated
Going out PWM totally six tunnel of module output, for realizing the control to six degree of freedom respectively, the PWM on every road is by power supply, the earth and PWM
Output port forms, and the PWM output port on every road can be realized rudder by the dutycycle controlling output PWM after being connected with steering wheel
The control of machine work.
The special steering engine driving device of six degree of freedom mechanical arm the most according to claim 1, it is characterised in that described power supply
Module bodies structure includes two groups of decompression converting circuit compositions, and one group of decompression converting circuit is the conversion that+7.2V is depressured to+5V
Circuit, another group decompression converting circuit is the change-over circuit that+5V is depressured to+3.3V, thus respectively obtains+5V's and+3.3V
Out-put supply, often organizes between the positive source of decompression converting circuit and the earth and is connected with decoupling capacitor, thus reducing load and bring
The ripple of power supply.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610766167.8A CN106272400A (en) | 2016-08-30 | 2016-08-30 | A kind of special steering engine driving device of six degree of freedom mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610766167.8A CN106272400A (en) | 2016-08-30 | 2016-08-30 | A kind of special steering engine driving device of six degree of freedom mechanical arm |
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| CN106272400A true CN106272400A (en) | 2017-01-04 |
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| CN201610766167.8A Pending CN106272400A (en) | 2016-08-30 | 2016-08-30 | A kind of special steering engine driving device of six degree of freedom mechanical arm |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108015773A (en) * | 2017-12-15 | 2018-05-11 | 青岛大学 | Mechanical arm control panel based on wireless blue tooth technology |
| CN108058174A (en) * | 2017-12-22 | 2018-05-22 | 杭州欢乐飞机器人科技股份有限公司 | Modularization robot master board |
| CN112122217A (en) * | 2020-09-15 | 2020-12-25 | 张国亚 | Fan blade conveying, fixing and clamping assembly of wind driven generator |
| WO2022127365A1 (en) * | 2020-12-18 | 2022-06-23 | 广州城市理工学院 | Control method for sign language robotic arm |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108015773A (en) * | 2017-12-15 | 2018-05-11 | 青岛大学 | Mechanical arm control panel based on wireless blue tooth technology |
| CN108058174A (en) * | 2017-12-22 | 2018-05-22 | 杭州欢乐飞机器人科技股份有限公司 | Modularization robot master board |
| CN112122217A (en) * | 2020-09-15 | 2020-12-25 | 张国亚 | Fan blade conveying, fixing and clamping assembly of wind driven generator |
| WO2022127365A1 (en) * | 2020-12-18 | 2022-06-23 | 广州城市理工学院 | Control method for sign language robotic arm |
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