【導(dǎo)讀】占用空間也不容易更變生產(chǎn)線結(jié)構(gòu)，加上需要人力監(jiān)督操作，更增加生產(chǎn)成本，并且效率也不是很理想。通常利用機(jī)械手來代替人工操作，來解決這一問題。設(shè)計(jì)中的機(jī)械手主要功能是用來抓大小球，繪制出了機(jī)械手工作的流程順序圖。主要控制部分的實(shí)現(xiàn)，是以三菱公司的F1-40M型號(hào)的PLC為控制器。械手控制系統(tǒng)硬件原理圖、梯形圖和軟件程序流程圖，并編寫了相應(yīng)的軟件程序。本設(shè)計(jì)機(jī)械手可以用來實(shí)現(xiàn)手動(dòng)、單周期、單步、連續(xù)和復(fù)位五種工作狀態(tài)。

　　

【正文】 value to robot social application and economy development. With the rapid progress with the control economy and expanding of the modern cities, the let of sewage is increasing quickly: With the development of modern technology and the enhancement of consciousness about environment reserve, more and more people realized the importance and urgent of sewage disposal. Active bacteria method is an effective technique for sewage disposal， The lacunaris plastic is an effective basement for active bacteria adhesion for sewage disposal. The abundance requirement for lacunaris plastic makes it is a 洛陽理工學(xué)院畢業(yè)設(shè)計(jì)（論文） 37 consequent for the plastic producing with automation and high productivity. Therefore, it is very necessary to design a manipulator that can automatically fulfill the plastic holding. With the analysis of the problems in the design of the plastic holding manipulator and synthesizing the robot research and development condition in recent years, a economic scheme is concluded on the basis of the analysis of mechanical configuration, transform system, drive device and control system and guided by the idea of the characteristic and plex of mechanical configuration, electronic, software and hardware. In this article, the mechanical configuration bines the character of direction coordinate and the arthrosis coordinate which can improve the stability and operation flexibility of the system. The main function of the transmission mechanism is to transmit power to implement department and p lete the necessary movement. In this transmission structure, the screw transmission mechanism transmits the rotary motion into linear motion. Worm gear can give vary transmission ratio. Both of the transmission mechanisms have a characteristic of pact structure. The design of drive system often is limited by the environment condition and the factor of cost and technical lever. 39。39。39。39。The step motor can receive digital signal directly and has the ability to response outer environment immediately and has no accumulation error, which often is used in driving system. In this driving system, openloop control system is posed of stepping motor, which can satisfy the demand not only for control precision but also for the target of economic and practicality. On this basis， the analysis of stepping motor in power calculating and style selecting is also given. The analysis of kinematics and dynamics for object holding manipulator is given in pleting the design of mechanical structure and drive system. Kinematics analysis is the basis of path programming and track control. The positive and reverse analysis of manipulator gives the relationship between manipulator space and drive space in position and speed. The relationship between manipulator’s tip position and arthrosis angles is concluded by coordinate transform method. The geometry method is used in 洛陽理工學(xué)院畢業(yè)設(shè)計(jì)（論文） 38 solving inverse kinematics problem and the result will provide theory evidence for control system. The f0unction of dynamics is to get the relationship between the movement and force and the target is to satisfy the demand of real time control. in this chamfer, NewtonEuripides method is used in analysis dynamic problem of the cleaning robot and the arthrosis force and torque are given which provide the foundation for step motor selecting and structure dynamic optimal ting. Control system is the key and core part of the object holding manipulator system design which will direct effect the reliability and practicality of the robot system in the division of configurati on and control function and also will effect or limit the development cost and cycle. With the demand of the PCL839 card, the PC puter which has a. tight structure and is easy to be extended is used as the principal puter cell and takes the function of system initialization, data operation and dispose, step motor drive and error diagnose and so on. A t the same time, the configuration structure features, task principles and the position function with high precision of the control card PCL839 are analyzed. Hardware is the matter foundation of the control. System and the software is the spirit of the control system. The target of the software is to bine all the parts in optimizing style and to improve the efficiency and reliability of the control system. The software design of the object holding manipulator control system is divided into several blocks such as system initialization block, data process block and error station detect and dispose model and so on. PCL839 card can solve the munication between the main puter and the control cells and take the measure of reducing the influence of the outer signal to the control system. The start and stop frequency of the step motor is far lower than the maximum running frequency. In order to improve the efficiency of the step motor, the increase and decrease of the speed is must considered when the step motor running in high speed and start or stop with great acceleration. The increase and decrease of the motor’s speed can be controlled by the pulse freque ncy sent to the step motor drive with a rational method. This can be implemented either by hardware or by 洛陽理工學(xué)院畢業(yè)設(shè)計(jì)（論文） 39 software. A step motor shift control method is proposed, which is simple to calculate, easy to realize and the theory means is straightforward. The motor39。39。39。39。 s acceleration can fit the torquefrequency curve properly with this method. And the amount of calculation load is less than the linear acceleration shift control method and the method which is based on the exponential rule to change speed. The method is tested by experiment. A t last, the research content and the achievement are sum up and the problems and shortages in main the content are also listed. The development and application of robot i