【正文】 械手對整個生產(chǎn)行業(yè)的影響，對機械手應(yīng)有的設(shè)計提出了一些想法。 關(guān)鍵詞 : 機械手，氣動控制， 可編程控制器（ PLC），自動化控制，物料分揀 南京工程學(xué)院畢業(yè)設(shè)計說明書（論文） Abstract With the development of productive forces, advanced manufacturing are introducing manipulator gradually, through which to acplish some work,for example handling, sorting, etc., instead of a humandominated heavy labor. The paper observes the status of the development of manipulator, focus on the impact of future manipulator for the entire manufacturing industry, put forward some ideas of the design of the manipulator . Firstly I decide to use pneumatic drive and PLC to control , to a great extent play the advantages of their functions, so the software and hardware to achieve a plementary effect, this is the future development of a trend robot. Overall the material sorting robot mechanical structure, actuators, drives and control system analysis and design. Finally, I put forward a simple and efficient control strategies. Through a series of research and exploration, finally I drew a this sorting material manipulator can be affordable and reliable. Key words: manipulator ； pneumaticdriven； programmable logic controller (PLC)； automatic control； sorting materials 南京工程學(xué)院畢業(yè)設(shè)計說明書（論文） 目 錄 第一章 緒論 ....................................................................................1 研究的目的及意義 .......................................................................1 機械手在國內(nèi)外現(xiàn)狀和發(fā)展趨勢 ...............................................1 主要研究的內(nèi)容 ...........................................................................1 第二章 執(zhí)行系統(tǒng)的分析與選擇 ....................................................2 執(zhí)行機構(gòu)坐標(biāo)形式的選擇 ...........................................................2 執(zhí)行機構(gòu)的組成 ...........................................................................2 執(zhí)行機構(gòu)各部分的分析與選擇 ...................................................2 手部的選擇 .......................................................................................2 手臂結(jié)構(gòu)的選擇 ...............................................................................3 機座結(jié)構(gòu)的選擇 ...............................................................................3 執(zhí)行機構(gòu)的工作原理 ...................................................................5 執(zhí)行機構(gòu)簡圖 ...............................................................................5 第三章 驅(qū)動系統(tǒng)的分析與選擇 ....................................................7 驅(qū)動系統(tǒng)的分析與選擇 ...............................................................7 機械手驅(qū)動系統(tǒng)的控制設(shè)計 .......................................................7 氣動元件選取及工作原理 ...........................................................8 氣源裝置 ...........................................................................................8 南京工程學(xué)院畢業(yè)設(shè)計說明書（論文） 執(zhí)行元件 ............................................................................................8 控制元件 ............................................................................................8 真空發(fā)生器 ........................................................................................9 吸盤 ....................................................................................................9 氣動回路的工作原理 .................................................................10 第四章 控制系統(tǒng)的分析設(shè)計 ......................................................12 控制系統(tǒng)的組成結(jié)構(gòu) .................................................................12 傳感器的選擇 ......