发布时间 : 星期日 文章基于PLC控制的两关节机械手运动仿真 - 图文更新完毕开始阅读
惠州学院
HUIZHOU UNIVERSITY
毕 业 论 文（设 计）
中文题目：基于PLC控制的两关节机械手运动仿真 英文题目：The Motion Simulation of Two Joint Manipulator
Based on PLC Control
姓 名： 学 号： 专业班级： 指导教师： 提交日期：
教务处制
基于PLC控制的两关节机械手运动仿真
黄亮亮 08电气信息工程（2）班 指导老师：郑继红 讲师
摘要
机械手是能够模仿人手动作，并按设定程序、轨迹和要求代替人手抓（吸）取、搬运工件或工具或进行操作的自动化装置，它能部分的代替人的手工劳动。较高级型式的机械手，还能模拟人的手臂动作，完成较复杂的作业。在机械制造业中，机械手已被广泛应用，从而大大地改善了工人的劳动条件，显著的提高劳动生产率，加快实现工业生产机械化和自动化的步伐。在我国，工业机械手近年来有较快的发展，投入了大量的人力物力加以研究和应用，并且很好的效果。
关键词：机械手 两关节 步进电机驱动 PLC
The Motion Simulation of Two Joint Manipulator Based
on PLC Control
Abstract
Manipulator is to be able to imitate manpower movement, and according to set program, locus and requirement substitute manpower to grab (inhale), take things or tool or the automation installation that operated， it can be partial to replace the handwork labor of person. The manipulator of higher level type can still imitate the arm movement of person，completes more complex work. In mechanical manufacturing industry, manipulator has been applied extensively，so improved the labor condition of worker greatly, raising labor productivity notably, quickly realize the step of industrial production mechanization and automation. In our country, industrial manipulator has more rapid development in recent years, have put in plenty of manpower material resources to study and apply，and get very good effect. The problem of this program major research is \automatically in close range -- the drive of atmospheric pressure \aspects, one is pushcart move part, the other is the operation of arm. They both With same drive energy -- air pump. Walk part can drive two wheels to turn with the motor of
atmospheric pressure. The pump of atmospheric pressure fixed in certain place, use a flexible tube linked the pump and motor, motor installation in walk part. The movement of arm in straight line realizes with cylinder, revolving movement realizes with the motor of
atmospheric pressure. Walking arm do not move, when the arm moving, walk part stop sport.
Keywords: manipulator two joints the drive of the stepper motor PLC
目录
1
绪论 ................................................................ 1 1.1 机械手的发展概况与发展趋势 ....................................... 1 1.2 应用机械手的意义 ................................................. 2 1.3 本文研究内容 ..................................................... 2 2 PLC和机械手简介 ..................................................... 3 2.1 PLC简介 ........................................................... 3 2.1.1 PLC发展历史 .................................................... 3 2.1.2 PLC基本结构 .................................................... 3 2.1.3 PLC工作原理 .................................................... 4 2.2 机械手及其组成 ................................................... 6 2.2.1 机械手概念 ................................................... 6 2.2.2 机械手的组成 ................................................. 6 2.3 机械手的分类 ..................................................... 7 2.4 对机械手的一般要求 ............................................... 7 3 机械手设计方案 ...................................................... 9 3.1 机械手的主要结构 ................................................. 9 3.2 机械手的规格参数 ................................................. 9 3.3 设计手臂结构应注意的问题 ........................................ 10 4 机械手控制算法及原理 ............................................... 11 4.1 机械手角度计算 .................................................. 11 4.2 控制原理 ........................................................ 11 4.3 规格参数 ........................................................ 13 5 硬件设计 ........................................................... 14 5.1 硬件单元 ........................................................ 14 5.2 系统硬件连接图 .................................................. 16 5.3 系统输入口分配 .................................................. 16 6 软件设计 ........................................................... 18 6.1 FX2N-1PG模块 ..................................................... 18 6.2 FX2N PLC与特殊功能模块之间的读/写操作 ............................ 20 6.2.1 特殊功能模块读指令 .......................................... 20 6.2.2 特殊功能模块写指令 .......................................... 21 6.3 寄存器功能描述 .................................................. 21 6.4 控制程序原理图 .................................................. 22 6.5 梯形图 .......................................................... 23 6.6 指令语句表 ...................................................... 25 7 系统仿真 ........................................................... 27 7.1 轨迹规划的概述 .................................................. 27 7.2 机械手数学模型的建立 ............................................ 27 7.3 两关节机械手运动方程的建立 ...................................... 28 7.4 机械手逆向运动方程的建立 ........................................ 28 7.5 Matlab仿真 ....................................................... 29