论文基于三菱FX系列PLC的机械手控制系统设计
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摘要
机械手能模仿人手和臂的某些动作功能，用以按固定程序抓取、搬运物件或操作工具的自动操作装置。它可代替人的繁重劳动以实现生产的机械化和自动化，能在有害环境下操作以保护人身安全，因而广泛应用于机械制造、冶金、电子、轻工和原子能等部门。
机械手主要由手部和运动机构组成。手部是用来抓持工件（或工具）的部件，根据被抓持物件的形状、尺寸、重量、材料和作业要求而有多种结构形式，如夹持型、托持型和吸附型等。运动机构，使手部完成各种转动（摆动）、移动或复合运动来实现规定的动作，改变被抓持物件的位置和姿势。运动机构的升降、伸缩、旋转等独立运动方式，称为机械手的自由度。为了抓取空间中任意位置和方位的物体，需有6个自由度。自由度是机械手设计的关键参数。自由度越多，机械手的灵活性越大，通用性越广，其结构也越复杂。一般专用机械手有2～3个自由度。
The manipulator mainly is posed by the hand and the motion. The hand is uses for to grasp holds the work piece (or tool) a part,according to is grasped holds the thing the shape, the size, the weight, the material and the work request but has the many kinds of structural style,Like supporting on both sides, request holding and adsorption and so on.motion,causes the hand to plete each kind of rotation (to swing), the migration or the pound motion realizes the stipulation movement,the change is grasped holds the thing the position and the posture. The motion fluctuation, the expansion and contraction, revolves and so on the independence movement way,is called manipulator's degree of freedom. In order to capture in the space the free position and the position object,must have 6 degrees of freedom. The degree of freedom is the essential parameter which the manipulator designs. The freedom goes past much,manipulator's flexibility is bigger,the versatility is broader,Its structure is also more plex. The mon special-purpose manipulator has a 2~3 degree of freedom..
The manipulator usually serves as the engine bed or other machines add-on ponents,like on automatic engine bed or automatic production line loading and unloading and transmission work piece,Replaces the cutting tool in the processing center and so on,does not have the independent control device generally. Somewhat operates the equipment to need by the human direct control,like uses in the host which the atomic energy department manages the dangerous goods from the type operator also often being called the manipulator.
机械手通常用作机床或其他机器的附加装置，如在自动机床或自动生产线上装卸和传递工件，在加工中心中更换刀具等，一般没有独立的控制装置。有些操作装置需要由人直接操纵，如用于原子能部门操持危险物品的主从式操作手也常称为机械手
关键词:点控制机械手连续控制机械手可编程控制技术
AbLeabharlann Baidutract
The manipulator can imitate the manpower and the arm certain movement functions,with by presses the fixed routine to capture, the transporting thing 'or' operation tool automatic operation installment. It may replace human's strenuous labor by to realize the production mechanization and the automation,can operate under the harmful environment by protects the personal safety,Thus widely applies in department and so on machine manufacture, metallurgy, electron, light industry and atomic energy.
机械手能模仿人手和臂的某些动作功能，用以按固定程序抓取、搬运物件或操作工具的自动操作装置。它可代替人的繁重劳动以实现生产的机械化和自动化，能在有害环境下操作以保护人身安全，因而广泛应用于机械制造、冶金、电子、轻工和原子能等部门。
机械手主要由手部和运动机构组成。手部是用来抓持工件（或工具）的部件，根据被抓持物件的形状、尺寸、重量、材料和作业要求而有多种结构形式，如夹持型、托持型和吸附型等。运动机构，使手部完成各种转动（摆动）、移动或复合运动来实现规定的动作，改变被抓持物件的位置和姿势。运动机构的升降、伸缩、旋转等独立运动方式，称为机械手的自由度。为了抓取空间中任意位置和方位的物体，需有6个自由度。自由度是机械手设计的关键参数。自由度越多，机械手的灵活性越大，通用性越广，其结构也越复杂。一般专用机械手有2～3个自由度。
The manipulator mainly is posed by the hand and the motion. The hand is uses for to grasp holds the work piece (or tool) a part,according to is grasped holds the thing the shape, the size, the weight, the material and the work request but has the many kinds of structural style,Like supporting on both sides, request holding and adsorption and so on.motion,causes the hand to plete each kind of rotation (to swing), the migration or the pound motion realizes the stipulation movement,the change is grasped holds the thing the position and the posture. The motion fluctuation, the expansion and contraction, revolves and so on the independence movement way,is called manipulator's degree of freedom. In order to capture in the space the free position and the position object,must have 6 degrees of freedom. The degree of freedom is the essential parameter which the manipulator designs. The freedom goes past much,manipulator's flexibility is bigger,the versatility is broader,Its structure is also more plex. The mon special-purpose manipulator has a 2~3 degree of freedom..
The manipulator usually serves as the engine bed or other machines add-on ponents,like on automatic engine bed or automatic production line loading and unloading and transmission work piece,Replaces the cutting tool in the processing center and so on,does not have the independent control device generally. Somewhat operates the equipment to need by the human direct control,like uses in the host which the atomic energy department manages the dangerous goods from the type operator also often being called the manipulator.
机械手通常用作机床或其他机器的附加装置，如在自动机床或自动生产线上装卸和传递工件，在加工中心中更换刀具等，一般没有独立的控制装置。有些操作装置需要由人直接操纵，如用于原子能部门操持危险物品的主从式操作手也常称为机械手
关键词:点控制机械手连续控制机械手可编程控制技术
AbLeabharlann Baidutract
The manipulator can imitate the manpower and the arm certain movement functions,with by presses the fixed routine to capture, the transporting thing 'or' operation tool automatic operation installment. It may replace human's strenuous labor by to realize the production mechanization and the automation,can operate under the harmful environment by protects the personal safety,Thus widely applies in department and so on machine manufacture, metallurgy, electron, light industry and atomic energy.