1、 摘 要 随着微电子技术、传感器技术、控制技术和机械制造工艺水平的飞速发 展，机器人的应用领域逐步从汽车拓展到其它领域。在各种类型的机器人中，模 拟人体手臂而构成的关节型机器人，具有结构紧凑、所占空间小、运动空间大等 优点，是应用最为广泛的机器人之一。尤其由柔性关节组成的柔性仿生机器人在 服务机器人及康复机器人领域中的应用和需求越来越突出。 本文将设计一台四自由度的工业机器人，用于给冲压设备运送物料。首先， 本文将设计机器人的底座、大臂、小臂和机械手的结构，然后选择合适的传动方 式、驱动方式，搭建机器人的结构平台；在此基础上，本文将设计该机器人的控 制系统，包括数据采集卡和伺服放大器的选择、反
2、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器人运行 过程的安全性，最终实现的目标包括：关节的伺服控制和制动问题、实时监测机 器人的各个关节的运动情况、机器人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：机器人，示教编程，伺服，制动 ABSTRACT With the development of microelectronic technology, sensor technology, the rapid development of control technology and machinery manufactur
3、ing technology level, the application of robots gradually expanded from cars to other fields. In all types of robots, the articulated robot arm simulation human form, has the advantages of compact structure, small occupied space, large moving space, is one of the most widely used robots. Especially
4、flexible biomimetic robot composed of flexible joint in the field of service robot and rehabilitation robot application and demand more and more prominent. In this paper I will design an industrial robot with four DOFs, which is used to carry material for a punch. First I will design the structure o
5、f the base, the big arm, the small arm and the end manipulator of the robot, then choose proper drive method and transmission method, building the mechanical structure of the robot. On this foundation, I will design the control system of the robot, including choosing DAQ card, servo control, feedbac
6、k method and designing electric circuit of the terminal card and control software. Great attention will be paid on the reliability of the control software and the robot safety during running. The aims to realize finally include: servocontrol and brake of the joint, monitoring the movement of each joint in realtime, playback programming and modifying the program online, setting reference point and returning to reference point. KEY WORDS: robot, playback, servocontrol, brake 目 录 第
