1、 I 摘要摘要 在当今大规模的制造业中，企业为提高生产效率，保障产品质量，普遍 重视生产过程的自动化程度，工业机械手作为自动化生产线上的重要成员， 逐渐被企业认同并采用。工业机械手的技术水平和应用程度在一定程度上 反映了一个国家的工业自动化水平。目前，工业机器人主要承担着焊接、 喷涂、搬运以及堆垛等重要性并且劳动强度极大的工作，工作方式一般采 取试教在线的方式。 本文将设计一台四自由度的工业机械手，用于给冲压设配运送物料。 首先，本文将设计工业机器人的底座、手、手腕、臂部等结构。然后选择 合适的传动方式，驱动方式，搭建工业机器人的结构平台。在此基础上， 本文将设计该机械手的控制系统，包括数据采
2、集卡和伺服放大器的选择， 反馈方式和反馈元件的选择，端子板电路的设计以及控制软件的设计，重 点加强控制软件的可靠性和机械手运行的安全性。最终实现目标包括：关 节的伺服控制和制动问题实时的检测机械手的各关节的运动情况，机械手 的示教编程和在线修改程序，设置参考点和回参考点。 关键词关键词：机械手；示教编程；伺服；制动 II ABSTRACT In todays large-scale manufacturing, the enterprise to improve production efficiency and ensure product quality, universal attent
3、ion production process automation degree, manipulator as an important member of automatic production line, gradually by enterprise and the use of identity. Industrial robot technology level and application degree to a certain extent reflect a nation of industrial automation level. Currently, the man
4、ipulator main bear the welding, painting, handling and storage, and the intensity of labor great importance of the work, work way to try to teach the general way online. This paper will design a four degrees of freedom industrial robot, are used to transport materials with stamping set. First of all
5、, this article will design the base of the industrial robot hand, wrist, arm, the structure, etc. And then choose the appropriate transmission mode, driving way, build the structure of manipulator platform. On this basis, this paper will design the system control system, including data collection ca
6、rd and the choice of servo amplifiers, feedback and feedback of components of the way choice, terminal board circuit design and control of the software design, focusing on the reliability of the control software and operation safety of manipulator. Finally realize the goals include: the joint servo control and braking problems in real time detection of each joint movement of the manipulator, the manipulator. Teaching program and on-line modification program, set the reference points and back
