摘要随着工业技术的迅猛发展，世界各地的制造业竞争越加激烈，与此同时，由于 人工及原材料的成本提高，企业的盈利空间出现了下滑的局面，甚至部分企业的生 存空间受到威胁。因此，为了更好的提高企业的生产效率、盈利空间以及员工作业 时的安全性，需要研究设计各种各样先进的机械手技术来解决制造业危机。81309

本课题以 32 位高性能 STM32 作为核心控制器，设计了基于模糊控制的智能机 械手系统。该系统不仅可以按照传统方式控制机械手进行加工移动动作，而且该系 统中的上位机可以实时监控机械手的各种动作，设置报警上下限，在运行时接受模 糊控制指令，通过智能算法生成模糊指令程序来控制下位机。

经过对本系统软硬件联合调试，结果表明：该系统能够准确的控制机械手每个 自由度的动作；通过人机界面与下位机之间的实时通讯可以精确的发送和接受各种 数据。由于该控制系统界面友善、控制简单、控制精准，因此能够广泛应用于各生 产领域。

毕业论文关键词：机械手；STM32；模糊控制；人机界面

Abstract With the rapid development of industrial technology, all over the world manufacturing industry competition has become increasingly fierce。 At the same time, owing to the rise in the cost of labor and raw materials, the profitability of the business space appeared decline in the situation, and even some enterprises living space is being threatened。 Therefore, in order to better improve the efficiency of production, profit space and the safety of the staff, it is needed to study and design a variety of advanced robotic technology to solve the manufacturing crisis。

Based on 32 bit high performance STM32 as the core controller, this paper designs the intelligent manipulator system based on fuzzy control。 The system can not only in accordance with the traditional way of controlling manipulator processing move, and the system of PC can be real-time monitoring of the manipulator moves, set alarm limits, It can accept fuzzy control instruction while running, through intelligent algorithm to generate fuzzy program instructions, and under the control of the crew。

According to the system hardware and software debugging。 The results showed that the system can accurately control mechanical hand each degree of freedom of action; through real-time communication between the man-machine interface and the lower position machine can be accurate to send and receive  data。 Because the control  system has friendly interface, simple control and precise control, it can be widely used in various fields of production。

Key words: manipulator; STM32; fuzzy control; human computer interface;

目 录

第一章 绪 论 1

1。1  课题研究背景及意义 1

1。2  国内外研究现状 3

1。2。1 国内发展现状 3

1。2。2 国外发展现状 4

1。3 未来智能机械手发展趋势 5

1。4  本章小节 5

第二章 智能机械手设计的总体方案 6

2。1  自由度及关节设计 6

2。2  旋转基座设计 6

2。3 U 型机械臂及 L 型支架设计 6

2。4  多功能支架设计