工業(yè)機(jī)械手_本科畢業(yè)設(shè)計(jì)論文-全文預(yù)覽
【正文】 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)????????????????? 4 致 謝?????????????????????????????? 4 參考文獻(xiàn) ???????????????????????????? 4 第 1 章 緒論 機(jī)械手概述 機(jī)械手是模仿著人手的部分動(dòng)作，按照給定程序、軌跡和要求能實(shí)現(xiàn)自動(dòng)抓取、搬運(yùn)的自動(dòng)機(jī)械裝置。隨著生產(chǎn)的發(fā)展，功能和性能的不斷改善和提高，在機(jī)械加 工、沖壓、鍛、鑄、焊接、熱處理、電鍍、噴漆、裝配以及輕工業(yè)、交通運(yùn)輸業(yè)等領(lǐng)域得到了越來(lái)越廣泛的應(yīng)用?！? 美國(guó)國(guó)家標(biāo)準(zhǔn) NBS 對(duì)機(jī)器人的定義 :“一種可編程，并在自動(dòng)化控制下執(zhí)行某種特定操作和移動(dòng)作業(yè)任務(wù)的機(jī)械裝置?！? 機(jī)械手可分為專用機(jī)械手和通用機(jī)械手兩大類。它適用于可變換生產(chǎn)品種的中小 PLC 的硬件結(jié)構(gòu)主要分單元式和模塊式兩種。要實(shí)現(xiàn)機(jī)器人所期望實(shí)現(xiàn)的功能，機(jī)器人的各部分之間必然還存在著相互關(guān)聯(lián)、相互影響和相互制約。驅(qū)動(dòng)－傳動(dòng)系統(tǒng)主要包括驅(qū)動(dòng)機(jī)構(gòu)和傳動(dòng)系統(tǒng)。 機(jī)械手的發(fā)展 工業(yè)機(jī)械手是在第二次世界大戰(zhàn)期間發(fā)展起來(lái)的，始于 40 年代的美國(guó)橡樹(shù)嶺國(guó)家實(shí)驗(yàn)室的搬運(yùn)核原料的遙控機(jī)械操作手研究，它是一種主從型的控制系統(tǒng)。雖然這兩種機(jī)械手出現(xiàn)在六十年代初，但都是國(guó)外工業(yè)機(jī)械手發(fā)展的基礎(chǔ)。聯(lián)邦德國(guó)機(jī)器制造業(yè)是從 1970 年開(kāi)始應(yīng)用機(jī)械手，主要用 于起重運(yùn)輸、焊接和設(shè)備的上下料等作業(yè)；聯(lián)邦德國(guó) Kuka 公司還生產(chǎn)一種點(diǎn)焊機(jī)械手，采用關(guān)節(jié)式結(jié)構(gòu)和程序控制；日本是工業(yè)機(jī)器人發(fā)展最快，應(yīng)用國(guó)家最多的國(guó)家，自 1969 年從美國(guó)引進(jìn)兩種典型機(jī)械手后，開(kāi)始大力從事機(jī)械手的研究，目前以成為世界上工業(yè)機(jī)械手 機(jī)器人 應(yīng)用最多的國(guó)家之一。從第七個(gè)五年 計(jì)劃 19861990 開(kāi)
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