机械手毕业设计样本.doc

摘 要
在当今大规模制造业中，公司为提高生产效率，保障产品质量，普遍注重生产过程自动化限度，工业机器人作为自动化生产线上重要成员，逐渐被公司所认同并采用。工业机器人技术水平和应用限度在一定限度上反映了一种，当前，工业机器人重要承担着焊接、喷涂、搬运以及堆垛等重复性并且劳动强度极大工作，工作方式普通采用示教再现方式。
本文将设计一台四自由度工业机器人，用于给冲压设备运送物料。一方面，本文将设计机器人底座、大臂、小臂和机械手构造，然后选取适当传动方式、驱动方式，搭建机器人构造平台；在此基本上，本文将设计该机器人控制系统，涉及数据采集卡和伺服放大器选取、反馈方式和反馈元件选取、端子板电路设计以及控制软件设计，重点加强控制软件可靠性和机器人运营过程安全性，最后实现目的涉及：关节伺服控制和制动问题、实时监测机器人各个关节运动状况、机器人示教编程和在线修改程序、设立参照点和回参照点。
核心词：机器人，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 designing electric circuit of the terminal card and control software. Great attention will be paid on the reliability of the control software and the robot safety during running. The aims to realize finally include：servocontrol and brake of the joint，monitoring the movement of each joint in realtime，playback programming and modifying the program online，setting reference point and retur