五自由度机械手.doc

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

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