送料機械手（總裝圖，部裝圖，5個零件圖，設計說明書）
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- 送料機械手（總裝圖，部裝圖，5個零件圖，設計說明書）ABSTRACT
In the modern large-scale manufacturing industry, enterprises pay more attention on the automation degree of the production process in order to enhance the production efficiency, and guarantee the product quality. As an important part of the automation production line, industrial robots are gradually approved and adopted by enterprises. The technique level and the application degree of industrial robots reflect the national level of the industrial automation to some extent, currently, industrial robots mainly undertake the jops of welding, spraying, transporting and stowing etc. , which are usually done repeatedly and take high work strength, and most of these robots work in playback way.
In this paper I will design an industrial robot with four DOFs, which is used to carry material for a punch. First I will design the structure of the base, the big arm, the small arm and the end manipulator of the robot, then choose proper drive method and transmission method, building the mechanical structure of the robot. On this foundation, I will design the control system of the robot, including choosing DAQ card, servo control, feedback method and designing electric circuit of the terminal card and control software. Great attention will be paid on the reliability of the control software and the robot safety during running. The aims to realize finally include: servocontrol and brake of the joint, monitoring the movement of each joint in realtime, playback programming and modifying the program online, setting reference point and returning to reference point.
KEY WORDS: robot, playback, servocontrol, brake
目 錄
第1章 緒論…………………………………………………………………… 3
1.1 機器人概述…………………………………………………………… 4
1.2 機器人的歷史、現狀………………………………………………… 4
1.3 機器人的發展趨勢…………………………………………………… 4
第2章 機器人實驗平臺介紹及機械手的設計……………3
2.1自由度及關節…………………………………………………………… 4
2.2 基座及連桿…………………………………………………………… 4
2.2.1 基座……………………………………………………………… 7
2.2.2 大臂……………………………………………………………… 7
2.2.3 小臂……………………………………………………………… 7
2.3 機械手的設計……………………………………………………………4
2.4 驅動方式…………………………………………………………………4
2.5 傳動方式…………………………………………………………………4
2.6 制動器……………………………………………………………………4
第3章 控制系統硬件……………………………………………………………4
3.1 控制系統模式的選擇……………………………………………………4
3.2 控制系統的搭建……………………………………………………… 4
3.2.1 工控機……………………………………………………………4
3.2.2 數據采集卡………………………………………………………4
3.2.3 伺服放大器………………………………………………………4
3.2.4 端子板…………………………………………………………… 4
3.2.5電位器及其標定………………………………………………… 4
3.2.6電源……………………………………………………………… 4
第4章 控制系統軟件………………………………………………………… 4
4.1預期的功能…………………………………………………………… 4
4.2 實現方法………………………………………………………………4
4.2.1實時顯示各個關節角及運動范圍控制 ………………………4
4.2.2直流電機的伺服控制………………………………………………4
4.2.3電機的自鎖…………………………………………………………4
4.2.4示教編程及在線修改程序…………………………………………4
4.2.5設置參考點及回參考點……………………………………………4
第5章 總結……………………………………………………………………… 4
5.1 所完成的工作………………………………………………………… 4
5.2 設計經驗……………………………………………………………… 4
5.3 誤差分析……………………………………………………………… 4
5.4 可以繼續探索的方向………………………………………………… 4
參考文獻………………………………………………………………………… 4...
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