【正文】 h the characteristics of the same distance from their point of using openloop control. To its starting point as a reference point, through the pulse by counting purposes at the location, manually operated mechanical hand movement from the point of reference points to the purpose, the purpose of preserving points of the parameters. The robot control system in the actual operation can be reliable and stable operation. Key words: Programmable Logic Controller, Manipulator, Positioning Control I 目 錄 摘 要 .................................................... I ABSTRACT ................................................... II 第一章 前言 ................................................. 1 研究的目的和意義 ................................................................................................................. 1 主要研究內(nèi)容及需要解決的關(guān)鍵問題和思路 ..................................................................... 2 課題研究內(nèi)容 ............................................................................................................... 2 硬件選擇 ....................................................................................................................... 3 控制要求 ....................................................................................................................... 3 輸入 /輸出設(shè)備 ........................................................................................................... 3 PLC 選擇 ....................................................................................................................... 3 I/O 點數(shù)分配 .............................................................................................................. 3 PLC 程序設(shè)計 ............................................................................................................ 3 第二章 硬件設(shè)計 ............................................. 5 機械手夾持結(jié)構(gòu) ..................................................................................................................... 5 夾緊機構(gòu) —— 手爪 ...................................................................................................... 5 本設(shè)計中手爪結(jié)構(gòu) ...................................................................................................... 5 傳動系統(tǒng) ................................................................................................................................ 6 傳動定位機構(gòu) ............................................................................................................... 6 傳動方式 ....................................................................................................................... 6 步進電機的選擇及其驅(qū)動器設(shè)定 ............................................................................... 6 輔助系統(tǒng) .............................................................................................................................. 11 原點定位及超程保護 ................................................................................................ 11 操作臺 ........................................................................................................................ 13 第三章 軟件設(shè)計 ............................................ 14 PLC 控制系統(tǒng)的設(shè)計及 I/O 口分配 ................................................................................... 14 PLC 控制系統(tǒng)設(shè)計的基本原則 ................................................................................. 14 PLC 控制系統(tǒng)設(shè)計步驟 ............................................................................................. 14 PLC 的輸出方式 ......................................................................................................... 15 II I/O 點數(shù) ....................................................................................................................... 16 程序設(shè)計 .............................................................................................................................. 18 控制原理圖 .......................................................................................................................... 20 初始化程序 .......................................................................................................................... 21 回原點程序 .......................................................................................................................... 22 手動程序 .............................................................................................................................. 24 自動程序 ............................................................................................................................... 25 第 4 章 結(jié)語 ................................................ 40 參考文 獻(xiàn) ................................................... 41 致謝 ....................................................... 42 南通大學(xué)杏林學(xué)院畢業(yè)設(shè)計（論文） 1 第一章 前言 研究的目的和意義 本課題是基于 PLC 控制器的機械手的控制系統(tǒng)的研究與設(shè)計，目的是在于通 PLC 可編程控制器和各種傳感器來對機械手臂的運動進行有效的控制，來達(dá)到人們想要的運動效果，從而代替一些由人來重復(fù)操作的機械的枯燥乏味的動作。本課題的機械手貼近鋼絲繩工業(yè)的生產(chǎn)要求，具有很強的可行性、實用性和經(jīng)濟性。該設(shè)備可以應(yīng)用 于鋼絲繩