目录
分拣机械手的控制设计...........................................................................................................................I
摘 要.........................................................................................................................................................I
第一章．绪论 ..........................................................................................................................................1
第二章．总体设计 ..................................................................................................................................2
§2.1 分拣机械手的操作要求及功能 ...................................2
§2.1.1 操作要求...............................................2
§2.1.2 操作功能...............................................2
§2.2 硬件接线图 ...................................................3
§2.3 输入和输出点分配表及 I/O 分配接线 .............................3
§2.4 软件电路设计及描述 ...........................................5
§2.4.1 机械手的操作系统程序...................................5
§2.4.2 回原位程序 ............................................5
§2.4.3 手动单步操作程序.......................................7
§2.4.4 自动操作程序...........................................9
§2.4.5 急停和停止............................................10
§2.5 机械臂传送系统梯形图 ........................................11
§2.6 机械臂传送系统仿真图........................................17
第三章．设计结论 ................................................................................................................................19
参考文献 ................................................................................................................................................19
