機械手畢業(yè)設(shè)計

本文格式為Word版下載后可任意編輯和復制第第頁機械手畢業(yè)設(shè)計Themanipulatormainlyiscomposedbythehandandthemotion.Thehandisusesfortograspholdstheworkpiece(ortool)apart,accordingtoisgraspedholdsthethingtheshape,thesize,theweight,thematerialandtheworkrequestbuthasthemanykindsofstructuralstyle,Likesupportingonbothsides,requestholdingandadsorptionandsoon.motion,causesthehandtocompleteeachkindofrotation(toswing),themigrationorthecompoundmotionrealizesthestipulationmovement,thechangeisgraspedholdsthethingthepositionandtheposture.

Themanipulatorusuallyservesastheenginebedorothermachinesadd-oncomponents,likeonautomaticenginebedorautomaticproductionlineloadingandunloadingandtransmissionworkpiece,Replacesthecuttingtoolintheprocessingcenterandsoon,doesnothavetheindependentcontroldevicegenerally.Somewhatoperatestheequipmenttoneedbythehumandirectcontrol,likeusesinthehostwhichtheatomicenergydepartmentmanagesthedangerousgoodsfromthetypeoperatoralsooftenbeingcalledthemanipulator.

Keywords:positioncontrolmanipulatorcontinualtrajectorycontrolmanipulatorPLC

名目

論文摘要IAbstractII

緒論1

第一章機械手簡介3

1.1課題背景3

1.2機械手的分類3

1.3應用機械手的意義4

1.4機械手的進展概況和趨勢5

第二章機械手設(shè)計6

2.1手結(jié)構(gòu)示意圖6

2.2械手工作流程6

2.3掌握要求7

2.4主電路設(shè)計7

2.5機械手的機能和特性8

2.5.1加緊機構(gòu)8

2.5.2軀干8

2.5.3旋轉(zhuǎn)編碼盤9

2.5.4步進電機9

2.5.5步進電動機的掌握10

2.6電源與傳動整體11

2.6.1掌握電源11

2.6.2傳動整體11

第三章PLC的介紹與選擇13

3.1PLC的特點13

3.2PLC的選型14

3.2.1.常用PLC介紹14

3.2.2.確定型號FX2N－64MT15

3.2.3三菱FX系列的結(jié)構(gòu)功能15

第四章掌握系統(tǒng)設(shè)計17

4.1掌握系統(tǒng)硬件設(shè)計17

4.1.1PLC梯形圖中的編程元件17

4.1.2PLC的I/O安排18

4.1.3機械手掌握系統(tǒng)的外部接線圖19

4.2掌握系統(tǒng)軟件設(shè)計19

4.2