【正文】 (model: TVT99D) I used is posed by MITSUBISHIS FX2NMT PLC, mechanical hand(ball screw, slide rail), Syntron 42BYG250C step motor and its driver module, sensor, photoelectric encoder ,pneumatic ponent and so on. It controls manipulator move vertically or horizontally, chassis or paw rotate, packandplace. The design mainly uses stepping sequence control and stepping control technology. The process covers programmable control technology, position control technology, detection technology, which is a typical representative of mechatronics. The design report firstly describes how to choose the way to control the mechanical hand and introductions of the ways. Then introduces the design steps. It also introduces program test of the manipulator. At last, the paper introduces the steps of processing and monitoring manipulator by KingView. 【 Key words】 : mechanical hand PLC ball screw step control **大學(xué)本科生畢業(yè)設(shè)計(jì)（論文） 目錄 一、 緒論 ............................................................................................ 1 （一） 課題研究目的及意義 ....................................................................................................... 1 （二） 國(guó)內(nèi)外機(jī)械手研究概況 .................................................................................................... 1 ............................................................................................................................. 1 ............................................................................................................................. 2 二、 機(jī)械手控制方式選擇 ...................................................................... 3 （一）機(jī)械手常用控制方法 ......................................................................................................... 3 1．控制方式的分類(lèi) ................................................................................................................ 3 ........................................................................................................ 4 （二） PLC 簡(jiǎn)介 .......................................................................................................................... 5 組成 ............................................................................................................................. 5 的特點(diǎn) ......................................................................................................................... 6 3. PLC 的主要功能 ................................................................................................................. 6 4. PLC 的經(jīng)濟(jì)性分析 .............................................................................................................. 7 的應(yīng)用領(lǐng)域及 發(fā)展?fàn)顩r ................................................................................................ 7 （三）組態(tài)王簡(jiǎn)介 ........................................................................................................................ 8 ................................................................................................................... 8 ................................................................................................................... 8 （四）機(jī)械手系統(tǒng)介紹 .............................................................................................................. 10 ........................................................................................................................ 11 ......................................................................................................... 12 ......................................................................................................... 17 4．接近開(kāi)關(guān)和限位開(kāi)關(guān) ....................................................................................................... 18 ........................................................................................................................... 19 三、 應(yīng)用 PLC設(shè)計(jì)機(jī)械手的步驟 .......................................................... 20 （一） 工藝控制和設(shè)計(jì)要求 ..................................................................................................... 20 ................................................................................................................. 20 ........................................................................................................................... 21 （二） PLC 程序設(shè)計(jì) ................................................................................................................. 22 1. I/O 點(diǎn)數(shù)的確定及 PLC 類(lèi)型的選擇 ................................................................................... 22 2. PLC 的 I/O 分配 ................................................................................................................ 22 ...................................................................................................... 23 **大學(xué)本科生畢業(yè)設(shè)計(jì)（論文） 程序的設(shè)計(jì) ................................................................................................................ 25 四、 PLC 機(jī)械手的程序調(diào)試 .................................................................. 31 （一） PLC 控制的安裝與布線 ................................................................................................... 31 ........................................................................................................................... 31 ........................................................................................................................... 31 .................................................................................................................................. 32 （二）機(jī)械手控制系統(tǒng)的外部接線圖 ......................................................................................... 32 五、應(yīng)用組態(tài)王對(duì)機(jī)械手監(jiān)控過(guò)程 .......................................................... 34 （一）畫(huà)面繪制 ......................................................................................................................... 34 （二）數(shù)據(jù)變量的設(shè)