多自由度機(jī)械手及其控制系統(tǒng)設(shè)計(jì)-機(jī)械畢業(yè)設(shè)計(jì)論文課程設(shè)計(jì)-搜狐博客-文庫(kù)吧資料
2024-11-16 05:39本頁(yè)面
【正文】 revolve, thus causes with the ball bearing guide screw nut vice solid pany at the together arm realization the vertical motion, his/her the arm expansion and contraction movement actuates by the hydraulic cylinder, the entire manipulator through two straight lines directions and a hand of rotation, the realization work piece transporting work, this article has carried on the detailed design to manipulator39。s technical parameter. At the same time, designed manipulator39。s position and classification, control system characteristic and work process. This article has carried on the overall plan design to the manipulator, had determined manipulator39。 關(guān)鍵詞：三自由度；圓柱坐標(biāo)；工業(yè)機(jī)器人； 機(jī)械手；控制系統(tǒng)。 本文還對(duì)機(jī)械手的計(jì)算機(jī)控制系統(tǒng)進(jìn)行設(shè)計(jì)，所設(shè)計(jì)的可編程控制器控制系統(tǒng)主要是針對(duì)工業(yè)機(jī)器人的控制。利用步進(jìn)電機(jī)驅(qū)動(dòng)和諧波齒輪傳動(dòng)來(lái)實(shí)現(xiàn)機(jī)器人的旋轉(zhuǎn)運(yùn)動(dòng)，利用另一臺(tái)步進(jìn)電機(jī)驅(qū)動(dòng)滾珠絲杠旋轉(zhuǎn)，從而使與滾珠絲杠螺母副固連在一起的手臂實(shí)現(xiàn)上下運(yùn)動(dòng)
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