主從機(jī)械手畢業(yè)設(shè)計(jì)論文-展示頁(yè)
2025-07-10 15:31本頁(yè)面
【正文】 n choose the appropriate drive mode, drive mode, set up the structure of the robot platform。s control system, including the steering gear set, AD (AD no conversion mode) to set up and the IO Settings, focus on strengthening the reliability of the control software and robot operation security, achieve the goal of including: joint servo control and braking problems, realtime monitoring of the masterslave manipulator rotation, grab, masterslave manipulator programming and modify the program, as well as onlineGrasping situation of the manipulator. KEY WORDS： steering engine， magic hand， programming， apply the brake 主從機(jī)械手 目 錄 摘要 ........................................................................................................................................ 1 ABSTRACT ........................................................................................................................... 2 第 1 章 緒論 ........................................................................................................................... 1 機(jī)器人的概述 .......................................................................................................... 1 機(jī)械手的歷史、現(xiàn)狀 ............................................................................................... 3 機(jī)械手的發(fā)展趨勢(shì) .................................................................................................. 4 第 2 章 主從機(jī)械手的硬件配置 ............................................................................................ 6 MultiFLEX 控制器 ................................................................................................... 6 MultiFLEX 介紹 ............................................................................................ 6 MultiFLEX 的特點(diǎn) ......................................................................................... 6 MultiFLEX 功能概述 ..................................................................................... 7 CDS5500 機(jī)器人舵機(jī) ............................................................................................... 7 CDS5500 的功能概述 .................................................................................... 7 CDS5500 的特點(diǎn) ........................................................................................... 8 UPDebugger 多功能調(diào)試器 .................................................................................... 8 第 3 章 主從機(jī)械手的軟件介紹 .......................................................................................... 10 NorthSTAR 軟件 ..................................................................................................... 10 NorthSTAR 包括以下三個(gè)部分的功能 ....................................................... 10 NorthSTAR 的工程界面如圖 31 ................................................................ 10 舵機(jī)調(diào)試軟件 RobotSevo_Terminal ...................................................................... 11 第 4 章 主從機(jī)械手的搭建 .................................................................................................. 12 舵機(jī)組裝 ................................................................................................................ 12 機(jī)械臂拼接 ............................................................................................................ 12 主從機(jī)械手 機(jī)械手搭建完成如圖 ............................................................................................. 13 第 5 章 主從機(jī)械手的軟件設(shè)計(jì) .......................................................................................... 14 RobotSevo_Terminal 軟件的設(shè)計(jì) ........................................................................... 14 主從機(jī)械手的流程圖 ............................................................................................. 15 NorthSTAR 軟件的設(shè)計(jì)及編程 .............................................................................. 17 結(jié) 論 .............................................................................................................................. 18 參 考 文 獻(xiàn) ......................................................................................................................... 19 致 謝 .............................................................................................................................. 20 附錄 ： NorthSTAR 程序代碼 ............................................................................................... 21 主從機(jī)械手 1 第 1章 緒論 機(jī)器人的概述 在現(xiàn)代工業(yè)中，生產(chǎn)過(guò)程的機(jī)械化、自動(dòng)化已成為突出的主題。但在機(jī)械工業(yè)中，加工、裝配等生產(chǎn)是不連續(xù)的。但除切削加工本身外，還有大量的裝卸、搬運(yùn)、裝配等作業(yè)
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