堆砌机器人臂手论文.docVIP

? ? ? 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 ? A?BSTRACT ? In the mo?dern large?-scale man?ufacturing? industry,? enterpris?es pay mor?e attentio?n on the a?utomation ?degree of ?the produc?tion proce?ss in orde?r to enhan?ce the pr?oduction e?fficiency,? and guara?ntee the p?roduct qua?lity. As a?n importan?t part of ?the autom?ation prod?uction lin?e, industr?ial robots? are gradu?ally appro?ved and ad?opted by ?enterprise?s. The tec?hnique lev?el and the? applicati?on degree ?of industr?ial robots? reflect t?he nationa?l level of? the indus?trial auto?mation to ?some exten?t, current?ly, indust?rial robot?s mainly u?ndertake t?he jops of? welding, ?spraying, ?transporti?ng and sto?wing etc. ?, which ar?e usually ?done repea?tedly and ?take high ?work stren?gth, and m?ost of the?se robots ?work in pl?ayback way?. In this ?paper I wi?ll design ?an industr?ial robot ?with four ?DOFs, whic?h is used ?to carry ?material f?or a punch?. First I ?will desig?n the stru?cture of t?he base, t?he big arm?, the smal?l arm and ?the end ma?nipulator ?of the rob?ot, then c?hoose prop?er drive m?ethod and ?transmissi?on method,? building ?the mechan?ical struc?ture of th?e robot. O?n this fou?ndation, I? will desi?gn the con?trol syste?m of the r?obot, incl?uding choo?sing DAQ c?ard, servo? control, ?feedback m?ethod and ?designing ?electric c?ircuit of ?the termin?al card an?d control ?software. ?Great atte?ntion will? be paid o?n the reli?ability of? the contr?ol softwar?e and the ?robot