四自由度机械手设计(35页).doc

1、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

2、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：关键词：机器人，示教编程，伺服，制动ABSTRACTIn the modern large-scale manufacturing industry,enterprises pay moreattention on the automation degree of the production process in order to enhance

3、theproduction efficiency,and guarantee the product quality.As an important part of theautomation production line,industrial robots are gradually approved and adopted byenterprises.The technique level and the application degree of industrial robots reflectthe national level of the industrial automati

4、on to some extent,currently,industrialrobots mainly undertake the jops of welding,spraying,transporting and stowing etc.,which are usually done repeatedly and take high work strength,and most of theserobots work in playback way.In this paper I will design an industrial robot with four DOFs,which is

5、used tocarry material for a punch.First I will design the structure of the base,the big arm,thesmall arm and the end manipulator of the robot,then choose proper drive method andtransmission method,building the mechanical structure of the robot.On thisfoundation,I will design the control system of th

6、e robot,including choosing DAQcard,servo control,feedback method and designing electric circuit of the terminalcard and control software.Great attention will be paid on the reliability of the controlsoftware 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 andreturning to reference point.KEYWORDS:robot,playback,