三维总装图
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
Industrial robots are an important automated equipment for modern manufacturing, integrating mechanical, electronic, control, computer, sensors, artificial intelligence and other multi-disciplinary advanced technologies. At present, industrial robots are mainly responsible for strong interference with harsh and repetitive tasks and labor-intensive work.
In this paper, through the study and research on the relevant technology of the six-axis industrial manipulator, the structural design of the six-axis industrial manipulator and the secondary development of the control system are completed. The first is to develop a design plan for the overall structure of the six-axis industrial robot and to develop a design, specifically to determine the axial length of each joint axis of the manipulator, use SolidWorks to draw the joint axis parts of the manipulator and its assembly drawings. Secondly, we will focus on the servo drive system and complete the PID closed-loop control transfer function of the C code. Finally, in combination with the laboratory Festo six-axis industrial robot, it is secondarily developed after familiar with the control program design and debugging operations. The specific development content is the combination of different end-effectors to accomplish the tasks of classification and handling, arc welding track simulation and pen painting.
Robotics is a forward-looking and strategic high-tech field. As an important embodiment of intelligent manufacturing, the robot's technical level directly reflects the degree of industrial automation. The development of control systems for the development of structural designs and actions can foster analytical problems, problem solving capabilities, and comprehensive electromechanical design capabilities, with certain innovation and design practical significance.
Keywords: six-axis manipulator ； structure design ； control system ； secondarily 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
设计所包含文件
字数统计
