论文总字数：29060字

摘 要

本设计的操作运行流程是实验者通过人机交互系统向上位机传输应用信息，上位机将得到的信息传递给下位机，下位机通过控制射流水柱的空间位置调节其在触觉屏幕上的显示，实验者通过触摸屏幕可以感受得到显示的信息。下位机的基本运行情况是：X轴电机驱动X轴滑块进而控制射流喷管在X轴上的移动，Y轴电机驱动Y轴滑块进而控制射流喷管在Y轴上的移动，由此控制射流水柱在显示器屏幕上的空间位置；另外，水泵将水箱中的水泵出到进水管中，形成有一定水压的射流水柱，并且基于压力最后由射流喷管喷出。我们编写一个简易的应用程序对驱动程序进行调用，利用基于WINCE6.0的ARM嵌入式对射流触觉显示器中两方向电机和水泵进行控制。设计实验测试本装置的图文判别功能。

本设计是利用直角坐标系来分解负载，有效提高系统的响应速度和稳定性，并且下降了设计成本；设计出控制伺服电机脉冲频率和方向以及控制水泵开闭的电路，利用mini2440开发板控制这些电路对装置进行控制。

关键词：水射流；直角坐标；伺服电机；mini2440开发板；

The research and development of the jet tactile display device

Student Number：02011416 Name：Wang Jun-nan

Supervised by Shuai Li-guo

Abstract：At present, some of the water jet tactile displays are too complicated in structure design, which lead to the high expense in the process of manufacturing device;And the design of the implementation of the device in the high-speed operation will have a lot of inertia, which can cause the device can not respond in time, stability will also decline.In order to solve these problems, a kind of rectangular coordinate water jet tactile monitor is designed,It decomposes the spatial position of the jet water column to the X axis and the Y axis in two directions, to realizes the graphics and text display on the tactile screen.And when the motion is decomposed to two directions, the load of the motor of the X axis and the Y axis is smaller, so the problem of the slow and poor stability of the tactile display is solved well.

The operation flow of the design is:The information of the application is transmitted to the upper computer by the man-machine interactive system, and then the information transmitted to the lower computer by the upper computer. Nex, the position of the lower computer is adjusted by the space position of the jet water column in the tactile screen,and finally the information is displayed by the participants through the touch screen.The basic operation of the lower computer is:The X axis motor drives the X axis slider to control the movement of the jet nozzle on the X axis.The Y axis motor drives the Y axis slider to control the movement of the jet nozzle on the Y axis.Thereby they control the space position of the water column in the monitor screen.In addition,the water pump takes the water in the water tank into the inlet pipe, forming a certain water pressure of the jet water column, and based on the final pressure from the jet nozzle.We write a simple application that calls the driver, and it controls the two directional motors and the water pump by the ARM embedded system based on WINCE6.0.

Overview of this design: We use the Cartesian coordinate system to decompose the load,which improves the response speed and stability of the system, and decrease the design cost.It designs the circuits which control the pulse frequency and direction of the servo motor and the pump opening and closing.And then the device is controlled by mini2440 development board which controls these circuits.An experiment is designed to test the function of showing the image and text of this device.

Key words:Water jet; Rectangular coordinates; Servo motor; Mini2440 development board;

目 录

1、绪论 1

1.1 论文背景与意义 1

1.2 射流触觉的研究现状 2

1.3 论文主要内容 2

1.4 论文结构安排 2

2、水射流技术理论基础 4

3.直角坐标式射流触觉显示器机构设计 5

3.1 显示器整体架构设计 5

3.2 直角坐标机构设计 5

3.2.1 直角坐标式结构 5

3.2.2 零部件介绍 6

3.2.3 装置运行原理 7

3.2.4 丝杠传动结构 8

4、硬件设计 10

4.1 硬件架构 10

4.1.1 伺服电机YZ-ACSD608_v3.5的控制接口与控制方式 10

4.1.2 MINI2440介绍 12

4.1.3 ARM定时器介绍 12

4.2电路设计 15

4.2.1电源转换电路 15

4.2.2 水泵驱动电路模块 18

4.2.3 电机驱动电路模块 21

5、系统软件设计 25

5.1 软件程序架构 25

5.1 ARM主程序实现 25

5.2.驱动程序原理分析 27

5.3 应用程序编写 29

5.3.1 项目建立 29

5.3.2 应用程序原理分析 29

6、 触感实验 31

6.1 实验方案设计 31

6.2 实验程序编写 31

6.3 实验结果与分析 33

7、结论 34

7.1 主要工作和成果 34

7.2 不足与待改进 34

致谢 35

参考文献： 36

射流触觉显示装置的研制与开发

1、绪论

1.1 论文背景与意义

人体感知系统包含着各种感觉方式，我们生活中最常用的莫过于视觉和听觉，而触觉则是我们无时无刻不在感觉，但常常被忽略的一种重要的感知方式。触觉较之其他的感知方式，拥有全方位、无死角优势，并且能够感知很多类型的触感，如压力、温度等造成的感觉等^[1]。当我们只用眼睛去看，只从视觉来判断事物的时候，得到的信息往往很不全面，并且极易造成疲劳；而当我们充分调动各种感知器官去感知时，可以得到更全面的信息，而且可以很轻松地做到，不易感到疲劳。

剩余内容已隐藏，请支付后下载全文，论文总字数：29060字