机械5

Festo六轴工业机械手结构设计及控制系统二次开发 摘要 工业机器人是集机械、电子、控制、计算机、传感器、人工智能等多学科先进技术于一体的现代制造业重要的自动化装备。目前，工业机器人主要承担着强干扰恶劣环境中重复性并且劳动强度极大的工作。 本文通过对六轴工业机械手相关技术的学习和研究，完成六轴工业机械手的结构设计及控制系统的二次开发。首先是拟定出六轴工业机械手整体结构的设计方案并展开设计，具体是确定机械手各关节轴的轴长尺寸、利用SolidWorks绘制机械手的关节轴零件及其装配图。其次重点研究伺服驱动系统，具体完成C代码的PID闭环控制传递函数。最后结合实验室Festo六轴工业机械手，在熟悉控制程序设计及调试操作的基础上对其二次开发。具体开发内容是结合不同末端执行器完成分类搬运、弧焊轨迹模仿和执笔作画等开发任务。 机器人技术属于具有前瞻性、战略性的高技术领域。机器人作为智能制造的重要体现，其技术水平直接反映工业自动化程度。开展结构设计和动作的控制系统开发，可培养分析问题、解决问题能力和机电综合设计能力，有一定的创新性和设计实践意义。 关键词：六轴机械手；结构设计；控制系统；二次开发 ABSTRACT I
ndustrial robots are a
n importa
nt automated equipme
nt for moder
n ma
nufacturi
ng, i
ntegrati
ng mecha
nical, electro
nic, co
ntrol, computer, se
nsors, artificial i
ntellige
nce a
nd other multi-discipli
nary adva
nced tech
nologies. At prese
nt, i
ndustrial robots are mai
nly respo
nsible for stro
ng i
nterfere
nce with harsh a
nd repetitive tasks a
nd labor-i
nte
nsive work. I
n this paper, through the study a
nd research o
n the releva
nt tech
nology of the six-axis i
ndustrial ma
nipulator, the structural desig
n of the six-axis i
ndustrial ma
nipulator a
nd the seco
ndary developme
nt of the co
ntrol system are completed. The first is to develop a desig
n pla
n for the overall structure of the six-axis i
ndustrial robot a
nd to develop a desig
n, specifically to determi
ne the axial le
ngth of each joi
nt axis of the ma
nipulator, use SolidWorks to draw the joi
nt axis parts of the ma
nipulator a
nd its assembly drawi
ngs. Seco
ndly, we will focus o
n the servo drive system a
nd complete the PID closed-loop co
ntrol tra
nsfer fu
nctio
n of the C code. Fi
nally, i
n combi
natio
n with the laboratory Festo six-axis i
ndustrial robot, it is seco
ndarily developed after familiar with the co
ntrol program desig
n a
nd debuggi
ng operatio
ns. The specific developme
nt co
nte
nt is the combi
natio
n of differe
nt e
nd-effectors to accomplish the tasks of classificatio
n a
nd ha
ndli
ng, arc weldi
ng track simulatio
n a
nd pe
n pai
nti
ng. Robotics is a forward-looki
ng a
nd strategic high-tech field. As a
n importa
nt embodime
nt of i
ntellige
nt ma
nufacturi
ng, the robot's tech
nical level directly reflects the degree of i
ndustrial automatio
n. The developme
nt of co
ntrol systems for the developme
nt of structural desig
ns a
nd actio
ns ca
n foster a
nalytical problems, problem solvi
ng capabilities, a
nd comprehe
nsive electromecha
nical desig
n capabilities, with certai
n i
n
novatio
n a
nd desig
n practical sig
nifica
nce. Keywords: six-axis ma
nipulator ； structure desig
n ； co
ntrol system ； seco
ndarily developed 目录 摘要I ABSTRACT II 1绪论1 1.1工业机器人国内外发展现状1 1.2工业机器人发展趋势2 1.3课题设计的主要内容3 2六轴工业机械手整体结构设计4 2.1机械手的设计参数4 2.2机械手的传动方案5 2.3基本模型的参数化设计6 2.4伺服电机和减速器的选型计算8 3六轴工业机械手控制系统设计13 3.1控制系统的硬件结构13 3.2机械手的伺服控制系统14 3.3基于C语言实现的闭环控制算法16 4基于Festo六轴工业机械手的二次开发20 4.1Festo六轴工业机械手20 4.2工件夹持任务开发22 4.3焊枪弧焊轨迹模仿任务开发30 4.4执笔作画任务开发35 5结论42 参考文献43 致谢45 附录Ⅰ：外文翻译46 附录Ⅰ：外文原文50 附录Ⅲ：工件夹持代码56 附录Ⅳ：焊枪弧焊轨迹代码60 附录Ⅴ：执笔作画代码62