工业机械手设计论文.doc

编号:本科毕业设计题目: 工业机械手的设计学院: 专业: 年级: 姓名: 指导教师: 完成日期: 中文摘要Ⅰ机械手是工业机器人系统中传统的任务执行机构,是机器人的关键部件之一。机械手的机械结构采用滚珠丝杆、滑杆、等机械器件组成; 电气方面有交流电机、变频器、传感器、等电子器件组成。该装置涵盖了可编程控制技术, 位置控制技术、检测技术等, 是机电一体化的典型代表仪器之一。本文介绍的是机械手的工作过程,机械手抓取机构的设计,以及由 PLC 输出三路脉冲, 分别驱动横轴、竖轴变频器, 控制机械手横轴和竖轴的精确定位, 从而实现机械手精确运动的功能。本课题拟开发的物料搬运机械手可在空间抓放物体, 动作灵活多样, 可代替人工在高温和危险的作业区进行作业,并可根据工件的变化及运动流程的要求随时更改相关参数。关键词: 机械手;单片机;液压缸;设计; A bstract Ⅱ Abstract Manipulator industrial robot systems traditional mandate, Robot is one of the ponents. Manipulator using the mechanical structure of screw-ball, slider, and other mechanical position; Electric have AC motor, inverter, sensor, and other electronic ponents. The device covers a programmable control technology, position control technology, detection technology, Mechatronics isa typical representative of one of the machines. Isa robot that is described in this article work, design of robot crawling mechanism, as well as by the PLC outputs three pulses, horizontal axis, vertical axis inverter driven, respectively, control the manipulator of the horizontal axis and the vertical axis precise positioning, enabling precise movement of manipulator function. This project intends to develop material handling robot to grab objects in space, flexible, can replace human operation area of high temperatures and dangerous job, ording to the work piece changes and movement processes of change at any time at the request of the relevant parameters. Key Words: Manipulator ; PLC ; hydro-cylinder ; devise ; Ⅲ目录中文摘要························································································· Ⅰ英文摘要························································································· Ⅱ目录························································································· Ⅲ引言··························································································· 1 ··································································· 2 机械手的发展及现状·····························