毕业设计（论文）-六自由度（六轴）关节坐标式打磨机器人设计.doc

PAGE 打磨机器人设计 全套图纸加扣 3346389411或3012250582 摘 要 本文主要介绍了工业自动打磨系统以及六自由度（六轴）关节坐标式机器人打磨的编程，可应用与当今工业各类小型零件的打磨与抛光，在现实制造加工业中可以得到广泛运用，以达到解放生产工人的目的，具有很好的开发意义和发展前景。根据自动打磨机器人的结构布局设计和机器人自动打磨编程设计两个方面，本课题可分为打磨机器人整体布局及其机械结构设计、打磨机器人控制系统的硬件组成及连接和打磨机器人软件设计三个部分进行设计。首先，整体介绍打磨机器人的设计方案，通过分析比较确定自动打磨系统的具体结构和布局安排。其次，设计加工平台的运动控制系统，对控制系统的硬件进行设计，对相关的电器件进行选型。最后，以固高控制器为基础实现伺服电机的精确控制及各个相关I/O信号的合理控制；在OtoStudio环境下设计人机交互界面，完成打磨动作智能自动控制。 关 键 词：工业机器人，打磨，控制系统，离线编程 THE DESIGN OF THE ROBOT FOR POLISHING Abstract This paper mainly introduces the industrial automatic polishing system and six degree of freedom(six axes) robotic polishing programming, application and industry today of all kinds of small things of polishing, in real manufacturing and processing can be widely used, to liberate the purpose of production workers, have the great means and very good development prospect. According to automatic polishing system design and robot programming design in the two aspects, this paper is divided into the station design,control system planning of hardware and robot programming three parts design and control. First,the overall introduction of the design of the workstation design, through the analysis of the specific arrangements for the workstation,and make it. Secondly, the motion control system about hardware of the design platform is designed, choose the related word of the hadware of the motion control system.Finally, the accurate control of servo motor and the reasonable control of each the related I/O signal to realize,it is based on the googol controller. In the otostudio environment,to develop and design The Human Machine Interface,it to achieve the intelligent control of the polishing working. KEY WORDS: industrial robot, polishing, control system, off-line programming 目 录 前 言 …………………………………………………………………… 1 第1章 打磨机器人整体布局及其机械结构设计 …………………… 3 §1.1 打磨机器人常见结构类型及方案选择 ……………………… 3 §1.1.1 打磨机器人不同的结构类型 ………………………… 3 §1.1.2 不同结构打磨机器人的特点 ………………………… 3 §1.1.3 直角坐标式机器人与关节坐标式对比 ………………… 5 §1.1.4 打磨机器人的结构设计方案确定