机器人实验平台介绍及机械手的设计.pdf

摘 要 在当今大范围制造业中， 企业为提高生产效率， 保障产物质量， 普遍重视生 产历程的自动化水平， 产业呆板人作为自动化生产线上的重要成员， 逐渐被企业 所认同并接纳。产业呆板人的技能水平和应用水平在一定水平上反应了一个国度 产业自动化的水平，目前，产业呆板人主要负担着焊接、喷涂、搬运以及堆垛等 重复性而且劳动强度极大的事情，事情方法一般接纳示教再现的方法。 本文将设计一台四自由度的产业呆板人，用于给冲压设备运送物料。首先， 本文将设计呆板人的底座、 大臂、 小臂和机器手的结构， 然后选择符合的传动方 法、驱动方法，搭建呆板人的结构平台；在此底子上，本文将设计该呆板人的控 制系统，包罗数据收罗卡和伺服放大器的选择、 反馈方法和反馈元件的选择、 端 子板电路的设计以及控制软件的设计， 重点增强控制软件的可靠性和呆板人运行 历程的宁静性， 最终实现的目标包罗： 枢纽的伺服控制和制动问题、 实时监测呆 板人的各个枢纽的运动情况、 呆板人的示教编程和在线修改步伐、 设置参考点和 回参考点。 要害词： 呆板人，示教编程，伺服，制动 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 design