六自由度弧焊机器人毕业设计论文.doc

摘 要 机器人是一种集机械、电子、传感技术、控制技术等多种现代技术于一体的机电一体化产品。进入80年代，随着自动化生产流水线以及柔性生产系统（FMS）和柔性自动化（FA）在工业生产中的大量应用，机器人发挥着越来越重要的作用。机器人的特点是能在自动控制下通过编程完成目标操作或移动作业；机器人的构造和性能体现了人和机器各自的优点，特别是体现了人的智能和适应性以及机器的作业准确性和在各种环境中完成作业的能力。综观机器人发展的历史和高新技术的发展趋势，可以断言，机器人必将成为现代化工业发展中不可缺少的必备工具。 本文设计了一种关节式机器人，具有六个自由度，其中手腕关节具有三个自由度，其它的关节各具有一个自由度，各个关节采用电机驱动。 本设计主要介绍关于机器人的一些基本常识和原理，包括机器人的组成、分类主要技术性能参数并参考通用型机器人的结构，进行自由度机器人的结构设计和其计算机控制系统的设计。Pro/Engineer 和AutoCAD 等软件设计出了机器人本体结构。 关键词: 六自由度机器人控制系统 ABSTRACT The robot is the mechanical-electrical production which is composed of the technique of mechanical、electrical、sensor、control. Coming the 80 age, with the application of the automatic manufacture pipelining、flexible manufacture system and flexible automation, the robot will exert the profound influence on this. A characteristic of the robot is its ability to complete object manipulation or moving task through programming under the auto-control. The constitution and performance of the robot embody each quality of the man and robot, especially the man’s intelligence and applicability as well as the veracity of the robot’s task and the ability of completing task under each environment. A joint type robot was designed in this paper．It had six degrees of freedom．The wrist had three degrees of freedom and the other joints had three degrees of freedom．The painting robot’s joints were driven by motors． This scheme introduced some basic information and theory of the robots. It is included that the composition of the robot, the group of the robot, and the main capability of technology. It consulted the structure of the common robot to design the structure and computer control system of six degrees of freedom robot. After demonstrating the feasibility of robot mechanics, the article have designed the robot’s entity structure with Pro/engineer and AutoCAD and otherwise software from the matter of fact. KEYWORDS：Six degrees of freedom； robot；ontrol system 目 录 摘 要 I Abstract II 第1章 绪 论 1 1.1 机器人的定义及特点 1 1.2 机器人基本组成及技