MATLAB毕业论文

摘要I摘要本课题是基于机械臂的乐器演奏，机械臂演奏是一项具有高度技巧性的活动，在没有录音技术的时代，人们需要到音乐厅中才能欣赏演奏，而且成本较高。因此，人们需要能有自动演奏音乐的设备，来满足在没有音乐家现场表演的情况下以一种较低成本的方式欣赏音乐，机械手臂就是基于这种需求而被发明的。让人类的生活变得越来越智能化。本课题的实现过程主要是通过MATLAB来实现。MATLAB是一种以矩阵运算为基础的交互式程序,集成了数值计算、矩阵计算和图形绘制功能，广泛应用于研究、解决各种自动控制及工程问题.本课题通过MATLAB/GUI界面和MATLAB的串口通信，分析MATLAB的GUI设计方法，最后设计了一个人机交换界面。通过人机交换界用户操作，通过串口通信传达到单片机来实现机械手的乐器演奏。关键词：人机交互；机械臂；乐器演奏；MATLABAbstractIIAbstractThistopicisbasedonthemechanicalarminstruments,mechanicalarmplayingisahighlytechnicalactivity,intheabsenceofrecordingtechnologyera,peopleneedtoenjoyplayingintheconcerthall,andhighercost.Therefore,peopleneedtobeabletoautomaticallyplaymusicequipment,tomeetintheabsenceofmusiciansperformliveinalowcostwaytoappreciatethemusic,mechanicalarmisbasedontherequirementsandwasinvented.LethumanlifeisbecomingmoreandmoreintelligentTheimplementationprocessofthistopicismainlydonebymatlab.MATLABisakindofmatrixbasedinteractiveprogram,integratedwithnumericalcalculation,matrixcalculationandgraphicsfunctions,widelyusedinthestudy,allkindsofautomaticcontrolandengineeringproblemsolving.ThistopicthroughtheMATLAB/GUIinterfaceandMATLABserialcommunication,analysisofMATLABGUIdesignmethod,finallydesignedaman-machineinterfaceexchange.HumanComputerInteraction（HMI）throughtheuseraction,throughaserialportcommunicationtothesinglechipmicrocomputertorealizeinstrumentsofthemanipulator.Keywords:HMI；Mechanicalarm；Instruments;MALAB目录目录摘要································································································IAbstract···························································································II1绪论·····························································································11.1机械手研究的背景和意义···························································11.2机械手的国内外研究现状及发展趋势············································21.3机械臂演奏系统相关研究现状·····················································32关于Matlab的介绍·········································································72.1Matlab软件的简介·····································································72.2使用控件················································································82.2.1控件添加·········································································102.2.2获取与设置对象属性··························································102.3串口通信··············································································122.3.1MATLABGUI··································································122.3.2串口数据发送与接收功能实现··············································142.3.3串口通信程序的编译··························································163机械臂演奏系统的Matlab程序设计··················································193.1程序设计过程········································································193.2界面介绍··············································································213.3串口通信界面········································································224演奏系统的演示、试验结果分析······················································274.1界面展示··············································································274.1.1演奏界面·········································································274.1.2串口通信界面···································································294.2程序展示··············································································294.2.1滑动条获得动态文本框数据·················································294.2.2静态框获得数据································································295结论···························································································31致谢······························································································32参考文献·······················································································33河北工程大学毕业设计说明书11绪论1.1机械手研究的背景和意义随着现代工业技术的发展，工业自动化技术越来越高，生产工况也有趋于恶劣的态势，这对一线工人的操作技能也提出了更高的要求，同时操作工人的工作安全也受到了相应的威胁。工人工作环境和工作内容也要求理想化简单化，对于一些往复的工作由机械手远程控制或自动完成显得非常重要。这样可以避免一些人不能接触的物质对人体造成伤害，如冶金、化工、医药、航空航天等。在机械制造业中，机械手应用较多，发展较快。目前主要应用于机床、模锻压力机的上下料以及焊接、喷漆等作业，它可以按照事先制定的作业程序完成规定的操作，有些还具备有传感反馈能力，能应付外界的变化。如果机械手发生某些偏离时，会引起零部件甚至机械本身的损坏，但若有了传感反馈自动，机械手就可以根据反馈自行调整。应用机械手，有利于提高材料的传送、工件的装卸、刀具的更换以及机器的装配等的自动化程度，从而可以提高劳动生产率，降低生产成本，加快实现工业生产机械化和自动化的步伐。机械手技术涉及到力学、机械学、电气液压技术、自动控制技术、传感器技术和计算机技术等科学领域，是一门跨学科综合技术。近些年，随着计算机技术、电子技术以及传感技术等在机械手中越来越多的应用，机械手已经成为工业生产中提高劳动生产率的重要因素。借助PLC强大的工业处理能力，很容易实现工业生产的自动化。基于此思路设计的机械手，在实现各种要求的工序前提下，大大提高了工业过程的质量，而且大大解放了生产力，改善了工作环境，减轻了劳动强度，节约了成本，提高了生产效率，具有十分重要的意义。同时，借助组态软件的辅助作用，大大提高了系统的工作效率。因此，在自动化机床和综合加工自动生产线上，目前几乎都设有机械手，以减少人力和更准确地控制生产的节拍，便于有节奏地进行生产。工业机械手是近几十年发展起来的一种高科技自动化生产设备。工业机械手是工业机器人的一个重要分支。它的特点是可通过编程来完成各种预期的作业任务，在构造和性能上兼有人和机器各自的优点，尤其体现了人的智能和适应性。机械手作业的准确性和各种环境中完成作业的能力，在国民经济各领域有着广阔的发展前景。在工业生产和其他领域内，由于工作的需要，人们经常受到高温、腐蚀及有毒气体的危害，增加了工人们的劳动强度，甚至危及生命。机械手就是在这种条件下诞生的，机械河北工程大学毕业设计说明书2手是工业机器人系统中的任务执行机构，是机器人的关键部件之一。工业机械手是近代自动控制领域中出现的一项新技术，它的发展是由于其作用正好满足了人们的需求。它能部分地代替人工操作；能按照生产工艺的要求，遵循一定的程序、时间和位置来完成工件的传送和装卸；能制作必要的器具进行焊接和装配，从而大大改善工人的劳动条件，显著地提高劳动生产率，加快实现工业生产机械化和自动化的步伐。它特别是在高温、高压、多粉尘、易燃、易爆、放射性等恶劣环境中，以及笨重、单调、