機(jī)械手畢業(yè)設(shè)計(jì)

本文格式為Word版下載后可任意編輯和復(fù)制第第頁機(jī)械手畢業(yè)設(shè)計(jì)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(jī)械手簡(jiǎn)介3

1.1課題背景3

1.2機(jī)械手的分類3

1.3應(yīng)用機(jī)械手的意義4

1.4機(jī)械手的進(jìn)展概況和趨勢(shì)5

第二章機(jī)械手設(shè)計(jì)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(jì)7

2.5機(jī)械手的機(jī)能和特性8

2.5.1加緊機(jī)構(gòu)8

2.5.2軀干8

2.5.3旋轉(zhuǎn)編碼盤9

2.5.4步進(jìn)電機(jī)9

2.5.5步進(jìn)電動(dòng)機(jī)的掌握10

2.6電源與傳動(dòng)整體11

2.6.1掌握電源11

2.6.2傳動(dòng)整體11

第三章PLC的介紹與選擇13

3.1PLC的特點(diǎn)13

3.2PLC的選型14

3.2.1.常用PLC介紹14

3.2.2.確定型號(hào)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(jì)17

4.1掌握系統(tǒng)硬件設(shè)計(jì)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(jī)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(jì)19

4.2