工业机器人机械手及其控制系统设计.doc

摘要

工业机器人技术是近年来新技术发展的重要领域之一，是以微电子技术为主导的多种

新兴技术与机械技术交叉、融合而成的一种综合性的高新技术。这一技术在工业、农业、

国防、医疗卫生、办公自动化及生活服务等众多领域有着越来越多的应用。工业机器人在

提高产品质量、加快产品更新、提高生产效率、促进制造业的柔性化、增强企业和国家的

竞争力等诸多方面有着举足轻重的地位。而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；是现代控制理论与工业生产自动化实践相结合的产物，并

以成为现代机械制造生产系统中的一个重要组成部分；是提高生产过程自动化、改善劳动

条件、提高产品质量和生产效率的有效手段之一。尤其在高温、高压、粉尘、噪声以及带

设计。其中重点要加强控制软件的可靠性和机器人运行过程的安全性，最终要实现的目标

包括：关节的伺服控制和制动问题、实时监测机器人的各个关节的运动情况、机器人的示

教编程和在线修改程序、设置参考点和回参考点。

关键词：工业机器人；机械手；驱动；控制

Abstract

Industrial robot technology is one of the important fields in the development

of new technologies in recent years, is a cross, a variety of emerging technology

and mechanical technology integration with microelectronics technology as the

leading into a comprehensive high and new technology. This technology has been

used more and more in the fields of industry, agriculture, national defense,

medical, office automation and service life. Industrial robots play a decisive

role in improving the quality of products, to speed up the update products, improve

production efficiency, promote manufacturing flexibility, strengthen enterprise

execution mechanism of industrial robot system, is one of the key components of

the robot; is a product of modern control theory and automation of industrial

production practice, and to become an important part of modern mechanical

manufacturing system; it is one of the effective ways to improve the production

process automation, improve working conditions, to improve the product quality

and production efficiency. Especially with a radioactive pollution in high

the basis of the designed control system, consisting of the following steps: the

design of data acquisition card and servo amplifier selection, feedback system

and the feedback component selection, terminal board circuit design and control

software. The key to strengthen the security of operation reliability and robot

control software, to achieve the ultimate goals include: Joint servo control and

brake problems, real-time monitoring the movement of each joint of robot, robot

teaching programming and online modify the program, set the reference point and

the reference point return.

Key Words：Industrial robot; Manipulator; Drive; Control

目录

1.2 国内外发展状况 .........................................................4

1.2.1 国外发展 ...........................................................4

1.2.2 国内发展 ...........................................................5

1.3 工业机器人发展趋势 .....................................................5

2 工业机器人试验平台及机械手设计 ............................................6

2.1 机械手设计 .............................................................6

2.1.1 机械手简介 .........................................................6

2.1.2 机械手分类 .........................................................6

2.1.3 具体结构设计 .......................................................7

2.2 工业机器人基座与连杆设计 ...............................................9

2.4.2 液压驱动 ..........................................................12

2.4.3 气压驱动 ..........................................................12

2.4.4 驱动方式的确定 ....................................................13

2.5 选择合适的传动方式 ....................................................13

2.6 选择合适的制动器 ......................................................14

3 控制系统硬件的组成 ........................................................15

3.1 选择合适的控制系统模式 ................................................15