三自由度工業(yè)用機(jī)械手控制系統(tǒng)設(shè)計(jì)

1、三自由度工業(yè)用機(jī) 械手控制系統(tǒng)設(shè)計(jì)例學(xué)畢業(yè)設(shè)計(jì)（論文）寧波理工學(xué)院題 目 三自由度工業(yè)用機(jī)械手控制系統(tǒng)設(shè)計(jì)姓 名XXX學(xué) 號(hào) 3021142XXX專業(yè)班級(jí)10機(jī)械指導(dǎo)教師XX分 院成人教育學(xué)院完成日期年4月X日機(jī)械手是機(jī)器人研究的熱門領(lǐng)域之一，不但在工業(yè)還在其它 行業(yè)都發(fā)揮著越來越大的作用。而且隨著工業(yè)生產(chǎn)自動(dòng)化程度的 不斷提高，工業(yè)機(jī)械手在生產(chǎn)現(xiàn)場(chǎng)的流水線中扮演著越來越重要 的作用，現(xiàn)在已成為現(xiàn)代化工業(yè)生產(chǎn)中不可缺少的重要環(huán)節(jié)。本文在了解機(jī)械手和 PLC控制技術(shù)的國(guó)內(nèi)外研究現(xiàn)狀及發(fā)展 趨勢(shì)基礎(chǔ)上，而選用了三自由度機(jī)械手作為控制對(duì)象進(jìn)行研究。本文基于控制和計(jì)算機(jī)監(jiān)控的相關(guān)理論，根據(jù)工業(yè)機(jī)械手的

2、 控制要求，完成了其運(yùn)動(dòng)控制設(shè)計(jì)以及組態(tài)監(jiān)控系統(tǒng)構(gòu)建，對(duì)控 制系統(tǒng)的總體構(gòu)造、控制流程以及構(gòu)成系統(tǒng)的各個(gè)模塊的功能和 控制方式進(jìn)行了研究。關(guān)鍵詞：三自由度機(jī)械手；PLC控制系統(tǒng)；工業(yè)生產(chǎn)AbstractRobot is one of the hot areas of robot research and is playing an increasingly important role not only in industry but also in other industries. At the same time, with the continuous improvement of i

3、ndustrial production automation, industrial robots in the production site of the pipeline plays an increasingly important role, has become an indispensable modern industrial production important link.Based on the research status and development trend of robot and PLC control technology, this paper c

4、hooses three-degree-of-freedom manipulator as the control object.Based on the theory of control and computer monitoring, this paper completes its motion control design and configuration monitoring system construction accordingto the control requirements of industrialmanipulator. The overall structur

5、e of the control system, the controlflow and the function and control mode ofeach module constituting the system Were studied.Keywords: Three degrees of freedomControl System ; Industrial production目錄摘要Abstract 目錄1 .弓I言1.1 研究機(jī)械手的意義1.2 機(jī)械手的組成和分類1.2.1 機(jī)械手的組成1.2.2 機(jī)械手的分類1.3 機(jī)械手的國(guó)內(nèi)外研究現(xiàn)狀 manipulator; PLC;錯(cuò)誤!未定義書簽錯(cuò)誤!未定義書簽錯(cuò)誤