【作者】 郭俊；

【导师】 李元宗；

【作者基本信息】 太原理工大学 ， 机械电子工程， 2005， 硕士

【摘要】 本文详细介绍了摔跤训练器的机械机构与控制方法。该仪器主要是针对摔跤中滚桥和交叉握小腿两专项技术的力量与技术训练而设计的。重点介绍多楔带小车、扭矩自适应传动机构和模拟假人三部分机械结构和控制方法,该设备综合应用了机械,电子,测控等技术,是典型的机电一体化产品。它机构复杂,在较小的体积内容纳了谐波减速、齿轮传动、多锲带传动、同步带传动、链传动以及连杆机构等众多知识。并使用了当前最先进的交流伺服电机驱动及工业计算机实时检测技术。并对伺服电机扭矩值和模拟假人抱紧力值进行了实验标定,验证了该设备的灵敏度、精确度。 本文还介绍了摔跤训练器控制系统的硬件组成与软件开发。基于PC系统下利用VC++可以实现伺服电机速度、加速度和位移变化。在界面上可清楚看到当前运动员训练状态的数据。该设备起到了模仿真人滚桥和交叉握小腿的效果,更多还原

【Abstract】 This paper introduces mechanism and control system of instrument for wresting training. This instrument is devised reason which is train rolling bridge and across holding crus techniques during the wresting. Emphases on introduces mechanism and control means of more wedge- strip, torque self-adapted drive framework, simulator. The equipment used synthetically technique about machine, electron, test and control and so on. It is a type machine & electron incorporated production. The equipment is complicated, contained knowledge of slope deceleration, gear-driven, more wedge-stripdriven, in-phase strip-driven, chain-driven and link-lever machine, applied drivers of AC servo motor and real-time detect technique of industry computer. We make a experiment to validate delicacy & precision of servo motor torque and simulator embraced power.In addition, the paper presents the hardware and software of control system of instrument for wresting training. Apply VC++ control speed, acceleration, and displacement of servo motor by PC based. We can see clear variety date of athlete on the interface. The equipment can copy rolling bridge and across holding crus techniques in the wresting, real-time detect embrace power, really reflect sports lever of athlete. The paper is a sort of modal of gym career for robot, provided indeed theory and deed evidence for robot’s intelligence and gym career development.更多还原