1、 1 三自由度机械手的结构设计 摘 要 本文简要介绍了机械手的概念，机械手的组成和分类，国内外的发展状 况及发展前景。 本文对机械手进行总体方案设计，结合生产实际及理论确定了机械手的 结构及动作过程，坐标型式和自由度数，并列出了机械手的技术参数。 设计出了机械手的驱动方案、控制方案，在进行控制方案的选取时进行 了不同方案的优缺点的对比，最后确定了具体的控制方案。在进行机械手控 制器件的选取时，对控制器件选择进行了详细的分析，如对步进电机参数的 具体选取。最后介绍了利用可编程序控制器对机械手进行控制，同时叙述了 可编程序控制器选取原则及工作过程，并绘制出了可编程序控制器外部接线 图。在用可编程序
2、控制器控制时分为手动和自动两种工作方式，并绘制了自 动工作方式的顺序功能图。 关键词 机械手的概念，机械手控制器件，可编程序控制器（PLC） ThREE DEGREES OF FREEDOM MANIPULATOR DESIGN ABSTRACT 2 This paper introduces the concept of robot, robot the composition and classification of domestic and international developments and prospects. In this paper, an overall robot
3、 design, combined with production practice and theory to determine the structure of the manipulator and the action process, coordinate types and degrees of freedom, and lists the technical parameters of the manipulator. Designed a manipulator-driven program, control program, control program during t
4、he selection of different options when comparing the advantages and disadvantages, and finally determine the specific control program. Manipulator control device during the selection, the control device on a detailed analysis of options, such as the specific selection step motor parameters. Finally, the use of programmable logic controller to control the manipulator, taking account of the principles of PLC and process of selection, and draws out the external wiring diagram of PLC. Programmabl
