块状物料抓取控制研究.pdfVIP

Error! No text of specified style in document. 摘要 本文基于现代科技和工业的发展趋势和需求，以典型的机械手为例，对块状物料 抓取控制进行研究。对国内外机械手的发展现状和趋势做出分析，并简要论述未来机 械手的发展方向。在对机械手的诞生历程、结构组成、驱动方式、控制结构、控制系统 和运动轨迹控制等方面进行详细的分析研究基础上，得出各种控制结构和控制系统 的优缺点和适用场所。最后分别详细介绍分析机械手在深海水下机械手、达芬奇手术 机器人这两种尖端科技上的应用及其控制方法，以及在现代工厂中得到广泛应用的 块状物料抓取式装箱机和注塑机械手中的机械手的原理和控制方案。 关键 ：块状物料，抓取控制，机械手 - I - Abstract Abstract This article is based on modern science and technology and industry development trend and demand, grasping the key to investigate manipulator to block material control for research. For domestic and foreign development present situation and trend of the manipulator to make analysis and research, and briefly discusses the future development direction of the manipulator. And the basic structure of the manipulator, structure composition, drive mode and control structure, control system and trajectory control and so on a detailed analysis of the research, through the analysis and comparison, it is concluded that, the work environment and the needs of different sectors more optimized manipulator overall scheme is put forward. Then detailed analysis of manipulator in deep-sea underwater manipulator, surgical robot applications of these two kinds of cutting-edge technology and its control method, and is widely used in modern factories block material fetching type packing machine and injection molding principle and control scheme of the manipulator of the manipulator. Key Words ：Block material, grab control, mechanical hand - I - 第一章 前言 第一章 前 言 1.1课题背景及重要意义 从原始社会到现在，人们对于物块的抓取经