器人控制系统设计 .................................................................................................... 26 6.1 机械手控制器的选择 ............................................................................................... 26 6.2 机器手控制系统的特点及对控制功能的基本要求 ............................................. 26 6.3 控制系统的总体设计 ............................................................................................... 27 目 录7 手臂验算与机械手参数 ................................................................................................ 29 7.1 手臂平衡的验算 ....................................................................................................... 29 7.2 机械手参数................................................................................................................ 30设计总结 .................................................................................................................................. 31鸣 谢....................................................................................................................................... 31参考文献 .................................................................................................................................. 32 ABSTRACT 设计总说明 在社会不断发展的今天,机器人在工业现场中的应用也越来越广泛,用机器的力量代替人力,而将人类从繁重的体力劳动中解放出来是历史发展的趋势。
近十几年来,机器人的开发不仅越来越优化,而且涵盖了许多领域,应用的范畴十分广阔。
在工业上,自动控制系统有着广泛的应用,如工业自动化机床控制,
计算机系统,机器人等。
而工业机器人是相对较新的电子设备,它正开始改变现代化工业面貌。
本设计的机械手是基于提高劳动生产率、产品质量和经济效益,减轻工人劳动强度而设计的。
在某些劳动条件极其恶劣的条件下,工人难以用手工工作,可用本机械手代替人力劳动。
本设计为四自由度圆柱坐标型工业机械手,其工作方向为两个直线方向和两个旋转方向。
本设计中的四自由度棒料搬运机械手,主要是针对质量少于 2KG 的圆形棒料的搬运。
通过气爪手指的不同选择可满足直径小于 60mm 的棒料的搬运。
在控制器的作用下,机械手执行将工件从一条流水线拿到另一条流水线并把工件翻转过来这一简单的动作.关键词:四自由度;机械手;搬运;工业机器人 ABSTRACT INTRODUCTION Today that develop continuously in the society The robot are more and more Using atindustry scene application. Replaces the manpower with the machine strength It‘s thehistorical development tendency that liberates the humanity from the arduous physical labor. In the recent several years the robot development not only more and more optimizes butalso moreover has covered many domains. Industrially automatic control systems are found in numerous applications such asautomation machine tool control computer systems and robotics. Industrial robots arerelatively new electromechanical devices that are beginning to change the appearance ofmodern industry. This paper design for enhances the labor productivity product quality economicefficiency and reduces the worker labor intensity. Some job working at extremely badenvironment that people can’t work in hand so the robots can replace worker to do it. This scheme introduced a cylindrical robot for four degree of freedom. It is composed oftwo linear axes and two rotary axis current This paper mainly use at the transporting of circular good material that quality is short to2KG. The different fingernail finger was Choice for transporting the good material thatdiameter is smaller than 60mm. Under controller function the robot move the components from one assembly line toother assembly line and turn over it in space perform relatively simple takes.KEYWORDS: four degrees of freedom robot transporting Industrial robot 00 四自由度棒料搬运机械手设计
机械设计制造及其自动化,2002121629,曾华飞 指导教师:俞国燕 1 绪论1.1 工业机器人的概述与发展 ,在人类科技发展史上其来有自, 机器人(又称机械手,机械人,英文名称:Robot)早在三国时代,诸葛亮发明的木牛