【正文】 el and application level in a certain extent reflects a country39。 主 從機(jī)械手的 的 設(shè)計(jì)思路為： 設(shè)計(jì)一個(gè)主動(dòng)機(jī)器人作為操作端來(lái)使用，操作人員按照自己的意圖控制主動(dòng)機(jī)器人的末端執(zhí)行器進(jìn)行運(yùn)動(dòng)，那么主動(dòng)機(jī)器人各關(guān)節(jié)在運(yùn)動(dòng)中生成的信號(hào)值就是作為發(fā)往從動(dòng)端機(jī)器人各關(guān)節(jié)的驅(qū)動(dòng)指令值。工業(yè)機(jī)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(gè)國(guó)家工業(yè)自動(dòng)化的水平，目前，工業(yè)機(jī)器人主要承擔(dān)著焊接、噴涂、搬運(yùn)以及堆垛等重復(fù)性并且勞動(dòng)強(qiáng)度極大的工作，工作方式一般采取示教再現(xiàn)的方式。 關(guān)鍵詞： 主從機(jī)械手，編程， 舵機(jī) ， 制動(dòng) 主從機(jī)械手 1 ABSTRACT In today39。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(jī)械手 目 錄 摘要 ........................................................................................................................................ 1 ABSTRACT ........................................................................................................................... 2 第 1 章 緒論 ........................................................................................................................... 1 機(jī)器人的概述 .......................................................................................................... 1 機(jī)械手的歷史、現(xiàn)狀 ............................................................................................... 3 機(jī)械手的發(fā)展趨勢(shì) .................................................................................................. 4 第 2 章 主從機(jī)械手的硬件配置 ............................................................................................ 6 MultiFLEX 控制器 ................................................................................................... 6 MultiFLEX 介紹 ............................................................................................ 6 MultiFLEX 的特點(diǎn) ......................................................................................... 6 MultiFLEX 功能概述 ..................................................................................... 7 CDS5500 機(jī)器人舵機(jī) ............................................................................................... 7 CDS5500 的功能概述 .................................................................................... 7 CDS5500 的特點(diǎn) ........................................................................................... 8 UPDebugger 多功能調(diào)試器 .................................................................................... 8 第 3 章 主從機(jī)械手的軟件介紹 .......................................................................................... 10 NorthSTAR 軟件 ..................................................................................................... 10 NorthSTAR 包括以下三個(gè)部分的功能 ....................................................... 10 NorthSTAR 的工程界面如圖 31 ................................................................ 10 舵機(jī)調(diào)試軟件 RobotSevo_Terminal ...................................................................... 11 第 4 章 主從機(jī)械手的搭建 .................................................................................................. 12 舵機(jī)組裝 ................................................................................................................ 12 機(jī)械臂拼接 ............................................................................................................ 12 主從機(jī)械手 機(jī)械手搭建完成如圖 ............................................................................................. 13 第 5 章 主從機(jī)械手的軟件設(shè)計(jì) .......................................................................................... 14 RobotSevo_Terminal 軟件的設(shè)計(jì) ........................................................................... 14 主從機(jī)械手的流程圖 ............................................................................................. 15 NorthSTAR 軟件的設(shè)計(jì)及編程 .............................................................................. 17 結(jié) 論 .............................................................................................................................. 18 參 考 文 獻(xiàn) ......................................................................................................................... 19 致 謝 ...............................................................................................