【正文】 主從機械手 作 者： 指導(dǎo)教師： 蘇州市職業(yè)大學(xué) 電子信息工程 學(xué)院 20xx 年 5 月 主從機械手 1 摘 要 在當(dāng)今大規(guī)模制造業(yè)中，企業(yè)為提高生產(chǎn)效率，保障產(chǎn)品質(zhì)量，普遍重視生產(chǎn)過程的自動化程度，工業(yè)機器人作為自動化生產(chǎn)線上的重要成員，逐漸被企業(yè)所認(rèn)同并采用。工業(yè)機器人的技術(shù)水平和應(yīng)用程度在一定程度上反映了一個國家工業(yè)自動化的水平，目前，工業(yè)機器人主要承擔(dān)著焊接、噴涂、搬運以及堆垛等重復(fù)性并且勞動強度極大的工作，工作方式一般采取示教再現(xiàn)的方式。 主 從機械手的 的 設(shè)計思路為： 設(shè)計一個主動機器人作為操作端來使用，操作人員按照自己的意圖控制主動機器人的末端執(zhí)行器進行運動，那么主動機器人各關(guān)節(jié)在運動中生成的信號值就是作為發(fā)往從動端機器人各關(guān)節(jié)的驅(qū)動指令值。主從式機器人分為單向式與雙向式，在雙向式操作系統(tǒng)中，從動機器人在操作中的有關(guān)力度等信息可以反饋給操作人員，以便其加以調(diào)整力量大小。 首先，本文將設(shè)計 機器人的底座、大臂、小臂和機械手的結(jié)構(gòu)，然后選擇合適的 驅(qū)動方式，搭建機器人的結(jié)構(gòu)平臺；在此基礎(chǔ)上，本文將設(shè)計該機器人的控制系統(tǒng)， 包括舵機設(shè)置、 AD（ AD 沒有轉(zhuǎn)換模式）設(shè)置和 IO 設(shè)置 ，重點加強控制軟件的可靠性和機器人運行過程的安全性，最終實現(xiàn)的目標(biāo)包括：關(guān)節(jié) 的 制動、實時監(jiān)測主從機械手的轉(zhuǎn)動、抓取情況、主從機械手的 編程和在線修改程序、以及 機械手的抓取情況。 關(guān)鍵詞： 主從機械手，編程， 舵機 ， 制動 主從機械手 1 ABSTRACT In today39。s mass manufacturing, the enterprises to improve production efficiency, ensure product quality, generally attaches great importance to the production process automation, industrial robot as an important member of automation production line by enterprise gradually is accepted and adopted. Industrial robot technology level and application level in a certain extent reflects a country39。s industrial automation level, at present, the industrial robot is mainly responsible for welding, spraying, such as transportation and stacking repetitive work and labor intensity greatly, works usually take the way of teaching and reappearing. Design idea of masterslave manipulator is: the design of an active robot as operation use, operation personnel according to his intentions active robot control actuators for movement, at the end of the active signal value generated in each joint of the robot is as to the driven end driving instruction value of each joint. Masterslave robot is divided into a unidirectional and bidirectional type, in a double type operating system, driven robot in the operation of the strength and other information can be feedback relating to the operating personnel, in order to try to adjust the power size. First of all, in this paper, the design of the robot base, arm, forearm, and the structure of the manipulator, and then choose the appropriate drive mode, drive mode, set up the structure of the robot platform。 On this basis, this paper will design the robot39。s control system, including the steering gear set, AD (AD no conversion mode) to set up and the IO Settings, focus on strengthening the reliability of the control software and robot operation security, achieve the goal of including: joint servo control and braking problems, realtime monitoring of the masterslave manipulator rotation, grab, masterslave manipulator programming and modify the program, as well as onlineGrasping situation of the manipulator. KEY WORDS： steering engine， magic hand， programming， apply the brake 主從機械手 目 錄 摘要 ........................................................................................................................................ 1 ABSTRACT ........................................................................................................................... 2 第 1 章 緒論 ........................................................................................................................... 1 機器人的概述 .......................................................................................................... 1 機械手的歷史、現(xiàn)狀 ............................................................................................... 3 機械手的發(fā)展趨勢 .................................................................................................. 4 第 2 章 主從機械手的硬件配置 ............................................................................................ 6 MultiFLEX 控制器 ................................................................................................... 6 MultiFLEX 介紹 ............................................................................................ 6 MultiFLEX 的特點 ......................................................................................... 6 MultiFLEX 功能概述 ..................................................................................... 7 CDS5500 機器人舵機 ............................................................................................... 7 CDS5500 的功能概述 .................................................................................... 7 CDS5500 的特點 .........................................