机械手毕业设计

本文格式为Word版下载后可任意编辑和复制第第页机械手毕业设计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

论文摘要IAbstractII

绪论1

第一章机械手简介3

1.1课题背景3

1.2机械手的分类3

1.3应用机械手的意义4

1.4机械手的进展概况和趋势5

第二章机械手设计6

2.1手结构示意图6

2.2械手工作流程6

2.3掌握要求7

2.4主电路设计7

2.5机械手的机能和特性8

2.5.1加紧机构8

2.5.2躯干8

2.5.3旋转编码盘9

2.5.4步进电机9

2.5.5步进电动机的掌握10

2.6电源与传动整体11

2.6.1掌握电源11

2.6.2传动整体11

第三章PLC的介绍与选择13

3.1PLC的特点13

3.2PLC的选型14

3.2.1.常用PLC介绍14

3.2.2.确定型号FX2N－64MT15

3.2.3三菱FX系列的结构功能15

第四章掌握系统设计17

4.1掌握系统硬件设计17

4.1.1PLC梯形图中的编程元件17

4.1.2PLC的I/O安排18

4.1.3机械手掌握系统的外部接线图19

4.2掌握系统软件设计19

4.2