五自由度机械手.pdf
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2022-07-12
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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
4.4.1 PLC 的设计··············································19
4.4.2 PLC 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
5.3 PLC 部分·····················································29
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