工業(yè)機(jī)械手_本科畢業(yè)設(shè)計(jì)論文(已修改)
2024-11-21 16:45 本頁面
【正文】 工業(yè)機(jī)械手 _本科畢業(yè)設(shè)計(jì)論文 摘 要 隨著微電子技術(shù)、傳感器技術(shù)、控制技術(shù)和機(jī)械制造工藝水平的飛速發(fā)展，機(jī)器人的應(yīng)用領(lǐng)域逐步從汽車拓展到其它領(lǐng)域。在各種類型的機(jī)器人中，模擬人體手臂而構(gòu)成的關(guān)節(jié)型機(jī)器人，具有結(jié)構(gòu)緊湊、所占空間小、運(yùn)動(dòng)空間大等優(yōu)點(diǎn)，是應(yīng)用最為廣泛的機(jī)器人之一。尤其由柔性關(guān)節(jié)組成的柔性仿生機(jī)器人在服務(wù)機(jī)器人及康復(fù)機(jī)器人領(lǐng)域中的應(yīng)用和需求越來越突出。 本文將設(shè)計(jì)一臺(tái)四自由度的工 業(yè)機(jī)器人，用于給沖壓設(shè)備運(yùn)送物料。首先，本文將設(shè)計(jì)機(jī)器人的底座、大臂、小臂和機(jī)械手的結(jié)構(gòu)，然后選擇合適的傳動(dòng)方式、驅(qū)動(dòng)方式，搭建機(jī)器人的結(jié)構(gòu)平臺(tái)；在此基礎(chǔ)上，本文將設(shè)計(jì)該機(jī)器人的控制系統(tǒng)，包括數(shù)據(jù)采集卡和伺服放大器的選擇、反饋方式和反饋元件的選擇、端子板電路的設(shè)計(jì)以及控制軟件的設(shè)計(jì)，重點(diǎn)加強(qiáng)控制軟件的可靠性和機(jī)器人運(yùn)行過程的安全性，最終實(shí)現(xiàn)的目標(biāo)包括：關(guān)節(jié)的伺服控制和制動(dòng)問題、實(shí)時(shí)監(jiān)測(cè)機(jī)器人的各個(gè)關(guān)節(jié)的運(yùn)動(dòng)情況、機(jī)器人的示教編程和在線修改程序、設(shè)置參考點(diǎn)和回參考點(diǎn)。 關(guān)鍵詞：機(jī)器人，示教編程，伺服，制動(dòng) ABSTRACT With the development of microelectronic technology, sensor technology, the rapid development of control technology and machinery manufacturing technology level, the application of robots gradually expanded from cars to other fields. In all types of robots, the articulated robot arm simulation human form, has the advantages of pact structure, small occupied space, large moving space, is one of the most widely used robots. Especially flexible biomimetic robot posed of flexible joint in the field of service robot and rehabilitation robot application and demand more and more prominent. In this paper I will design an industrial robot with four DOFs, which is used to carry material for a punch. First I will design the structure of the base, the big arm, the small arm and the end manipulator of the robot, then choose proper drive method and transmission method, building the mechanical structure of the robot. On this foundation, I will design the control system of the robot, including choosing DAQ card, servo control, feedback method and designing electric circuit of the terminal card and control software. Great attention will be paid on the reliability of the control software and the robot safety during running. The aims to realize finally include: servocontrol and brake of the joint, monitoring the movement of each joint in realtime, playback programming and modifying the program online, setting reference point and returning to reference point. KEY WORDS: robot, playback, servocontrol, brake 目 錄 第 1 章 緒論?????????????????????????? 3 機(jī)械手概述??????????????????????? 4 機(jī)械手的發(fā)展?????????????????????? 4 機(jī)器人的發(fā)展趨勢(shì)???????????????????? 4 第 2 章 機(jī)器人實(shí)驗(yàn)平臺(tái)介紹及機(jī)械手的設(shè)計(jì)????? 3 自由度及關(guān)節(jié)??????????????????????? 4 基座及連桿??????????????????????? 4 基座? ??????????????????????? 7 大臂???????????????????????? 7 小臂???????????????????????? 7 機(jī)械手的基本結(jié)構(gòu)???????????????????? 4 驅(qū)動(dòng)方式????????????????????????? 4 傳動(dòng)方式????????????????????????? 4 制動(dòng)器?????????????????????????? 4 第 3 章 控制系統(tǒng)軟件???????????? ?????????? 4 預(yù)期的功能??????????????????????? 4 實(shí)現(xiàn)方法???????????????????????? 4 實(shí)時(shí)顯示各個(gè)關(guān)節(jié)角及運(yùn)動(dòng)范圍控制 ????????? 4 電機(jī)的自鎖?????????????????????? 4 示教編程及在線修改程序???????????????? 4 設(shè)置參考點(diǎn)及回參考點(diǎn)????????????????
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