球面SCARA機(jī)器人總體及控制系統(tǒng)設(shè)計(jì)
球面SCARA機(jī)器人總體及控制系統(tǒng)設(shè)計(jì),球面,scara,機(jī)器人,總體,整體,控制系統(tǒng),設(shè)計(jì)
鹽城工學(xué)院本科生畢業(yè)設(shè)計(jì)說明書 2011
球面SCARA機(jī)器人總體及控制系統(tǒng)設(shè)計(jì)
摘要：球面SCARA機(jī)器人是一種具有三個(gè)自由度的關(guān)節(jié)型裝置。機(jī)器人的體積小，傳動(dòng)原理簡(jiǎn)單，所以被廣泛應(yīng)用于電子電器行業(yè)，家用電器行業(yè)，精密機(jī)械行業(yè)等領(lǐng)域。球面機(jī)器人著重對(duì)球形工件表面定位控制系統(tǒng)設(shè)計(jì)進(jìn)行了探究，確定了機(jī)電一體化的設(shè)計(jì)方案，把機(jī)械結(jié)構(gòu)和PLC控制合理的融合在一起。其中，機(jī)器人的大臂，小臂，頂針都由步進(jìn)電機(jī)驅(qū)動(dòng)，采用三菱FX2N系列的PLC作為控制器。最終達(dá)到安全，穩(wěn)定，準(zhǔn)確的完成操作。
首先，簡(jiǎn)單介紹了課題來源，國內(nèi)外機(jī)器人的現(xiàn)狀及發(fā)展趨勢(shì)。
其次，對(duì)SCARA球面機(jī)器人進(jìn)行了總體設(shè)計(jì)，然后根據(jù)動(dòng)作要求對(duì)機(jī)器人控制系統(tǒng)的硬件及軟件進(jìn)行設(shè)計(jì)。還要對(duì)編制的PLC程序在GX simulator上進(jìn)行仿真。
最后，總結(jié)全文，展望了機(jī)器人的發(fā)展前景。本課題是機(jī)電結(jié)合較為緊密的實(shí)用性項(xiàng)目，文中對(duì)PLC的應(yīng)用、機(jī)械總體結(jié)構(gòu)進(jìn)行了一些探究，對(duì)球面機(jī)器人的設(shè)計(jì)與研制方面積累了一些經(jīng)驗(yàn)。
關(guān)鍵詞：SCARA機(jī)器人；步進(jìn)電機(jī)；PLC；運(yùn)動(dòng)控制
The Design of Overall and Control system of Spherical SCARA Robot
Abstract: A Spherical SCARA robot is an articulated device that composed of three degrees of freedom. Because of its small volume and simple drive principle, it is widely used in the field of electronic and electric industry, home-used electric industry and exact mechanism. This paper focuses on the control system design of the SCARA robot used in positioning on spherical surface and confirms the design of a project that mechanics and electrics are used together. The PLC and mechanical are combined agreeably in the coordinating actions of the manipulator. Among this equipment, the robot arm, forearm, thimble are completed by the stepper motors. Meanwhile, the writer adopts the MITSUBISHI’s FX series of PLC as controller. Ultimately achieve the completion of operation security, stability and accurately.
Firstly, I introduce the resource, and review the development of robot inside and abroad.
Secondly,I complete the overall design of Spherical SCARA Robot, and then according to manipulate requirements to work out hardware and software design of the robot control system. But also for the preparation of the PLC program on the GX-simulator to simulate.
Finally, I summarize the whole thesis, and look out the prospects of development of the robot. The subject is a practical item where the mechanics and electrics are integrated very closely. I have made a necessary discussion in the application of PLC, the design of mechanical overall structure. Some experiences are accumulated in the design and development of spherical robot.
Key words: SCARA robot; Stepper motor; PLC; Motion- control.
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編號(hào)：2774036
類型：共享資源
大?。?span id="ievbyqtbdd" class="font-tahoma">6.96MB
格式：ZIP
上傳時(shí)間：2019-11-29
15
積分
- 關(guān) 鍵 詞：
-
球面
scara
機(jī)器人
總體
整體
控制系統(tǒng)
設(shè)計(jì)
- 資源描述：
-
球面SCARA機(jī)器人總體及控制系統(tǒng)設(shè)計(jì),球面,scara,機(jī)器人,總體,整體,控制系統(tǒng),設(shè)計(jì)
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