（本科）机电专业毕业设计论文：四轴工业机械手结构及控制系统设计.doc

摘 要 本毕业设计说明书在综述近年来机器人研究和发展概况的基础上，结合教学实验示范型工业机械手的设计，对机器人技术进行了系统的分析，提出了整体结构的经济型设计方案。 采用机电一体化设计思想，充分考虑机、电、软、硬件各自特点进行互补优化，对机械手整体结构、传动系统、驱动装置和控制系统进行了分析和设计。在此基础上，对机械手运动学和动力学进行了分析和设计，得出了关节变量和操作空间在位置、速度以及加速度之间的对应关系。对机械手操作臂进行了动力学分析，为交流伺服电机的选型和结构优化提供了理论依据。在机械手控制系统设计中，提出采用PC工业控制计算机作为主机，选择PCL-839卡作为控制单元，来完成系统功能的初始化、数据运算与处理等功能。 通过以上各部分的工作，得出了开放型、经济型、实用化、高可靠性教学型机械手的设计。 关键词 机械手；教学实验；计算机控制系统；可编程控制器；交流伺服电 Abstract In this paper, an economic scheme of robot whole mechanical configuration and control system is provided based on the research and development of robot in recent years and connected with the design of the object holding manipulator. The analysis and design of robot mechanical configuration, transform system, drive department and control system are guided by mechanics idea and the respective characteristic and complement of mechanical, electronics, software and hardware are also taken into account. On the basis of this design, the kinematics is analyzed and the relationship between arthrosis parameters and manipulator space in position, speed and acceleration is given. The analysis of the object holding manipulator dynamics and the result will provide theory evidence in step motor selecting and structure optimizing. In the design of the object holding manipulator control system, the PC industrial computer is the main computer of the control system, and the control cell uses PCL-839 to fulfill the system initialization, data operation and dispose, step motor drive. According to the analysis of above parts, opening, economic, practicality and high reliability object holding manipulator design scheme is concluded which will be value to other type of robot’s mechanical design and control system research. Key words Robot Teaching experiment Computer control system Programmable controller AC servo motor 目 录 摘 要 I Abstract II 第1章 绪论 1 1.1 课题的来源及课题的目的 1 1.2 课题的研究背景及意义 1 1.3 国内外工业机械手的发展和应用概况 1 1.3.1 工业机械手概述 1 1.3.2 工业机械手的发展和应用 2 1.4 工业机械手系统的基本结构及其分类 3 1.5 工业机械手运动