送料机械手(总装图，部装图，5个零件图，设计说明书)

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送料机械手（总装图，部装图，5个零件图，设计说明书）ABSTRACT

In the modern large-scale manufacturing industry， enterprises pay more attention on the automation degree of the production process in order to enhance the production efficiency， and guarantee the product quality. As an important part of the automation production line， industrial robots are gradually approved and adopted by enterprises. The technique level and the application degree of industrial robots reflect the national level of the industrial automation to some extent， currently， industrial robots mainly undertake the jops of welding， spraying， transporting and stowing etc. ， which are usually done repeatedly and take high work strength， and most of these robots work in playback way.
In this paper I will design an industrial robot with four DOFs， which is used to carry material for a punch. First I will design the structure of the base， the big arm， the small arm and the end manipulator of the robot， then choose proper drive method and transmission method， building the mechanical structure of the robot. On this foundation， I will design the control system of the robot， including choosing DAQ card， servo control， feedback method and designing electric circuit of the terminal card and control software. Great attention will be paid on the reliability of the control software 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 and returning to reference point.

KEY WORDS: robot， playback， servocontrol， brake






目 录
第1章 绪论 3
1.1 机器人概述 4
1.2 机器人的历史、现状 4
1.3 机器人的发展趋势 4
第2章 机器人实验平台介绍及机械手的设计3
2.1自由度及关节 4
2.2 基座及连杆 4
2.2.1 基座 7
2.2.2 大臂 7
2.2.3 小臂 7
2.3 机械手的设计4
2.4 驱动方式4
2.5 传动方式4
2.6 制动器4
第3章 控制系统硬件4
3.1 控制系统模式的选择4
3.2 控制系统的搭建 4
3.2.1 工控机4
3.2.2 数据采集卡4
3.2.3 伺服放大器4
3.2.4 端子板 4
3.2.5电位器及其标定 4
3.2.6电源 4
第4章 控制系统软件 4
4.1预期的功能 4
4.2 实现方法4
4.2.1实时显示各个关节角及运动范围控制 4
4.2.2直流电机的伺服控制4
4.2.3电机的自锁4
4.2.4示教编程及在线修改程序4
4.2.5设置参考点及回参考点4
第5章 总结 4
5.1 所完成的工作 4
5.2 设计经验 4
5.3 误差分析 4
5.4 可以继续探索的方向 4
参考文献 4