示教机械人控制系统的设计.docVIP

示教机械人控制系统的设计摘 要 近年来，机器人技术发展迅猛，不仅是中国同时国外对机器人的需求也越来越大，因此，对机器人技术人才的需求也越来越大，这也让各高校也大力培养机器人设计、开发、生产、维护方面的人才，在培养机器人技术人才的过程中，人们发现通过示教机器人能让学生更直观更快地学习机器人技术。因此本文针对教学的需要设计开发了一款四自由度示教机器人。 本文在分析了示教机器人的结构和功能要求的基础上，对示教机器人的机械结构、驱动系统、硬件系统和软件系统进行了总体方案的分析和设计。首先介绍了国内外机器人及示教机器人的发展概况、发展趋势和示教机器人的机械结构，同时根据示教机器人的教学要求，选择了直角坐标机械结构并给出了机械机构设计图；然后根据系统的功能给出了控制系统的总体控制设计，并对硬件系统中的PLC、步进电机、步进电机驱动器进行选型，确定硬件之间的连接；最后，深入学习插补算法，将插补算法应用到示教机器人的路径规划当中，根据示教机器人的动作需求及硬件参数设计程序，同时采用了N-S图作为程序流程图来表示程序动作。 研究设计出的四自由度示教机器人具有机械结构简单、运行稳定可靠、寿命长、成本低等特点，同时软件采用模块化设计，维护和修改都很方便，还允许用户增加更多的功能。关键词：示教机器人；PLC；步进电机；差补算法。The design of the teaching robot control systemAbstract In recent years ,the technology of robots develop rapidly. Not only in China ,but also in other foreign countries , there is an increasing large demand for robots. Therefor, the demand of technicians for robots is becoming larger and larger. Many universities in China spare no efforts to train talents who can design, develop, produce and maintain the robots. In the process of educating these technicians ,people find it easier to teach students and grasp the technologies faster through the sample robots. Therefor, this article design and develop a four dimensionality sample robot to meet the demand of educating. On the basis of analysing the structure and function of the sample robot, this article analyse and design an plan about the mechanical structure, the drive system, the hardware system and the software system of it. First of all ,the author introduced briefly the situation and the trend of development of sample robots, then, the mechanical system of them. Meanwhile, according to the requirement of teaching sample robots, the author has chose the right angle coordinate system as the mechanical system, and has offered the design drawing of mechanical structure. After that, according to the function of system, the author came up with the general design of controlling system. Then the author has chose the type of PLC, the stepping motor