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文库首页前端Node.js四自由度的工业机器人设计毕业设计 (2).pdf

四自由度的工业机器人设计毕业设计 (2).pdf

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四自由度的工业机器人设计毕业设计 (2).pdf四自由度的工业机器人设计毕业设计 (2).pdf四自由度的工业机器人设计毕业设计 (2).pdf四自由度的工业机器人设计毕业设计 (2).pdf四自由度的工业机器人设计毕业设计 (2).pdf四自由度的工业机器人设计毕业设计 (2).pdf四自由度的工业机器人设计毕业设计 (2).pdf四自由度的工业机器人设计毕业设计 (2).pdf四自由度的工业机器人设计毕业设计 (2).pdf

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摘要

在当今大规模制造业中，企业为提高生产效率，保障产品质量，

普遍重视生产过程的自动化程度，工业机器人作为自动化生产线上的

重要成员，逐渐被企业所认同并采用。工业机器人的技术水平和应用

程度在一定程度上反映了一个国家工业自动化的水平，目前，工业机

器人主要承担着焊接、喷涂、搬运以及堆垛等重复性并且劳动强度极

大的工作，工作方式一般采取示教再现的方式。

本文将设计一台四自由度的工业机器人，用于给冲压设备运送物

料。首先，本文将设计机器人的底座、大臂、小臂和机械手的结构，

然后选择合适的传动方式、驱动方式，搭建机器人的结构平台；在此

基础上，本文将设计该机器人的控制系统，包括数据采集卡和伺服放

大器的选择、反馈方式和反馈元件的选择、端子板电路的设计以及控

制软件的设计，重点加强控制软件的可靠性和机器人运行过程的安全

性，最终实现的目标包括：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：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, buildingthe 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 returning to reference

point.

KEY WORDS: robot, playback, servocontrol, brake

第 1 章绪

论„„„„„„„„„„„„„„„„„„„„„„„„„„ 1

1.1 机器人概

述„„„„„„„„„„„„„„„„„„„„„„„ 2

1.2 机器人的历史、现

状„„„„„„„„„„„„„„„„„„„ 2

1.3 机器人的发展趋

势„„„„„„„„„„„„„„„„„„„„ 4

第 2 章机器人实验平台介绍及机械手的设

计„„„„„„„„„„„„ 5

2.1 自由度及关

节„„„„„„„„„„„„„„„„„„„„„„ 5

2.2 基座及连

杆„„„„„„„„„„„„„„„„„„„„„„„ 5

2.2.1 基

座„„„„„„„„„„„„„„„„„„„„„„„ 5

2.2.2 大

臂„„„„„„„„„„„„„„„„„„„„„„„ 6

2.2.3 小

臂„„„„„„„„„„„„„„„„„„„„„„„ 6

2.3 机械手的设

计„„„„„„„„„„„„„„„„„„„„„„ 7

2.4 驱动方

式„„„„„„„„„„„„„„„„„„„„„„„„ 9

2.5 传动方

式„„„„„„„„„„„„„„„„„„„„„„„„ 11

2.6 制动

器„„„„„„„„„„„„„„„„„„„„„„„„„ 12

第 3 章控制系统硬

件„„„„„„„„„„„„„„„„„„„„„ 13

3.1 控制系统模式的选

择„„„„„„„„„„„„„„„„„„„ 14

3.2 控制系统的搭

建„„„„„„„„„„„„„„„„„„„„„ 14

3.2.1 工控

机„„„„„„„„„„„„„„„„„„„„„„ 15

3.2.2 数据采集

卡„„„„„„„„„„„„„„„„„„„„„15

3.2.3 伺服放大

器„„„„„„„„„„„„„„„„„„„„„16

3.2.4 端子

板„„„„„„„„„„„„„„„„„„„„„„„16

3.2.5 电位器及其标

定„„„„„„„„„„„„„„„„„„„ 18

3.2.6 电

源„„„„„„„„„„„„„„„„„„„„„„„„ 21

第 4 章控制系统软

件„„„„„„„„„„„„„„„„„„„„„„21

4.1 预期的功

剩余50页未读，继续阅读

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