五自由度机械手.doc
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五自由度机械手.doc
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南通职业大学毕业设计
3
目录
目录
摘要
Abstract
第一章绪论·······················································1
1.1机器人的发展史·············································1
1.2机器人的定义···············································2
第二章设计原理及目的·············································4
2.1设计的目的和意义···········································4
2.2设计项目发展情况···········································4
2.3设计原理···················································5
第三章五自由度机械手运动分析与计算·······························6
3.1数学基础理论················································6
3.1.1刚体位姿的表示和齐次变换································6
3.1.2机器人运动学的D-H表示法································8
3.2五自由度机械手的机械结构方案设计与计算·····················10
3.2.1方案功能设计与分析······································10
3.2.2对机械手的计算··········································12
第四章机械手及模拟搬运设计·······································17
4.1控制方案的总体设计·········································17
4.2机械手的工作流程···········································17
4.3机械手的简介···············································17
4.4机械手的硬件设计···········································18
4.4.1PLC的设计··············································19
4.4.2PLC控制电路相对于电器控制电路的优点····················19
4.4.3步进电机的设计···········································20
第五章电路元气件及设备的选择·····································22
5.1步进电机简介·················································22
5.1.1步进电机简介··············································22
5.1.2步进电机的基本参数········································22
5.1.3步进电机的一些特点········································23
5.1.4静力矩的选择··············································24
6.1.5电流的选择················································25
5.1.6力矩与功率换算···········································25
5.1.7应用中的注意点··········································26
5.2步进电机的选择···············································27
5.2.1各项参数·················································27
5.2.2步进电机驱动模块··········································28
5.2.3技术特点················································28
5.3PLC部分·····················································29
5.3.1.设备连接················································32
5.4其他设备····················································32
第六章控制系统的程序设计·········································33
6.1应用背景与要求··············································33
6.2组成部分···················································33
6.2.1关节限位控制············································33
6.2.2工件坐标系的测量与计算···································34
6.2.3机械手的张合控制········································34
6.2.3公式之间的转换··········································34
6.2.4计算结果的存储··········································34
6.3机械手系统的工艺流程········································34
6.4机械手控制系统功能设计分析··································36
6.4.1PLC的资源分配···········································36
6.4.2机械手系统的控制程序·····································36
致谢····························································39
设计小结···························································40
参考文献···························································41
附录一、流程图······················································42
附录二、PLC外部接线图·············································43
附录三、示例程序····················································44
附录四、翻译部分··················································54
摘要
随着科学技术的日新月异,自动化程度要求越来越高,市场竞争激烈,人工成本上涨,以往人工操作的搬运和固定输送带为主的传统搬运方式,不但占用空间也不容易更变生产线结构,加上需要人力监督操作,更增加生产成本,原有的生产装料装置远远不能满足当前高度自动化的需要。
减轻劳动强度,保障生产的可靠性、安全性、降低生产成本,减少环境污染,提高产品的质量及经济效益是企业生产所必须面临的重大问题。
它集成自动控制技术、计量技术于一体的机电一体化产品,它利于控制,操作方便等优点。
本设计就PLC在机械手上的应用作了详细的阐述。
关键词:
PLC机械人
Abstract
Alongwithscience’sandtechnology’schangingwitheachnewday,theautomaticityrequestisgettinghigher,marketcompetitionintense,laborcostrise,formerlythemanualcontrolthetransportingandthestationaryconveyorbelttraditionthingmodeoftransportprimarily,notonlytakesthespacenottobeeasytochangetheproductionlinestructure,inadditionneedsthemanpowermonitoroperation,increasestheproductioncost,theoriginalproductionfeedstheinstallmentnottobeabletosatisfycurrenthighlyautomatedbyfartheneed.Reducesthelaborintensity,thesafeguardproductionreliability,thesecurity,reducestheproductioncost,reducestheenvironmentalpollution,toenhancetheproductthequalityandtheeconomicefficiencyisthemajorissuewhichtheenterpriseproducesmustface.Itintegratestheautomaticcontroltechnology,theMeasurementTechniqueinabody’sintegrationofmachineryproduct.ThisdesignonPLC,inthemanipulatorcontrolledontoserveasthedetailedelab
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- 关 键 词:
- 自由度 机械手