【正文】 module, sensor, photoelectric encoder ,pneumatic ponent and so on. It controls manipulator move vertically or horizontally, chassis or paw rotate, packandplace. The design mainly uses stepping sequence control and stepping control technology. The process covers programmable control technology, position control technology, detection technology, which is a typical representative of mechatronics. The design report firstly describes how to choose the way to control the mechanical hand and introductions of the ways. Then introduces the design steps. It also introduces program test of the manipulator. At last, the paper introduces the steps of processing and monitoring manipulator by KingView. 【 Key words】 : mechanical hand PLC ball screw step control **大學本科生畢業(yè)設計（論文） 目錄 一、 緒論 ............................................................................................ 1 （一） 課題研究目的及意義 ....................................................................................................... 1 （二） 國內外機械手研究概況 .................................................................................................... 1 ............................................................................................................................. 1 ............................................................................................................................. 2 二、 機械手控制方式選擇 ...................................................................... 3 （一）機械手常用控制方法 ......................................................................................................... 3 1．控制方式的分類 ................................................................................................................ 3 ........................................................................................................ 4 （二） PLC 簡介 .......................................................................................................................... 5 組成 ............................................................................................................................. 5 的特點 ......................................................................................................................... 6 3. PLC 的主要功能 ................................................................................................................. 6 4. PLC 的經濟性分析 .............................................................................................................. 7 的應用領域及 發(fā)展狀況 ................................................................................................ 7 （三）組態(tài)王簡介 ........................................................................................................................ 8 ................................................................................................................... 8 ................................................................................................................... 8 （四）機械手系統(tǒng)介紹 .............................................................................................................. 10 ........................................................................................................................ 11 ......................................................................................................... 12 ......................................................................................................... 17 4．接近開關和限位開關 ....................................................................................................... 18 ........................................................................................................................... 19 三、 應用 PLC設計機械手的步驟 .......................................................... 20 （一） 工藝控制和設計要求 ..................................................................................................... 20 ................................................................................................................. 20 ........................................................................................................................... 21 （二） PLC 程序設計 ................................................................................................................. 22 1. I/O 點數(shù)的確定及 PLC 類型的選擇 ................................................................................... 22 2. PLC 的 I/O 分配 ................................................................................................................ 22 ...................................................................................................... 23 **大學本科生畢業(yè)設計（論文） 程序的設計 ................................................................................................................ 25 四、 PLC 機械手的程序調試 .................................................................. 31 （一） PLC 控制的安裝與布線 ................................................................................................... 31 ........................................................................................................................... 31 ........................................................................................................................... 31 .................................................................................................................................. 32 （二）機械手控制系統(tǒng)的外部接線圖 ......................................................................................... 32 五、應用組態(tài)王對機械手監(jiān)控過程 .......................................................... 34 （一）畫面繪制 ......................................................................................................................... 34 （二）數(shù)據(jù)變量的設置 .............................................................................................................. 35 （三）組態(tài)王與 PLC 的通訊設置 ...........