Abstract
The machine arm is an importance of robot part, and the machine arm can replace a person to do some more dangerous works, have 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 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,and through closed-loop control for automatic rec- overy.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 a PCI-7401 bus interface board, signal amplification circuit, PWM control system, H-drive circuit and the machine arm to form a control system, through the computer to prepare A / D, D / A converters and PID control procedures To operate the machine arm, to complete various function that we request.
In this graduate design process, in the main part of the hardware is completed by the signal amplifier, PWM control system and the H-drive circuit composed of a circuit, and the understanding of the PCI-7401 bus interface board. We completed the production of PCB plans to complete the kind of circuit boards, and Weld Various of components, Finally debug circuit boards and the establishment of closed-loop system. Software is a major part of Visual C + + programming, that is, the A / D, D / A converters and PID control procedures for the preparation, and control purposes
Keywords: Machine Hand，PCI－7401，Closed-loop control，The PWM Control，The PID Control
