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主从机械手

作 者： 指导教师：

苏州市职业大学2013年5月

子信息工程学院

电

主从机械手

摘要

在当今大规模制造业中，企业为提高生产效率，保障产品质量，普遍重视生产过程的自动化程度，工业机器人作为自动化生产线上的重要成员，逐渐被企业所认同并采用。工业机器人的技术水平和应用程度在一定程度上反映了一个国家工业自动化的水平，目前，工业机器人主要承担着焊接、喷涂、搬运以及堆垛等重复性并且劳动强度极大的工作，工作方式一般采取示教再现的方式。

主从机械手的的设计思路为：设计一个主动机器人作为操作端来使用，操作人员按照自己的意图控制主动机器人的末端执行器进行运动，那么主动机器人各关节在运动中生成的信号值就是作为发往从动端机器人各关节的驱动指令值。主从式机器人分为单向式与双向式，在双向式操作系统中，从动机器人在操作中的有关力度等信息可以反馈给操作人员，以便其加以调整力量大小。

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，包括舵机设置、AD（AD没有转换模式）设置和IO设置，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：关节的制动、实时监测主从机械手的转动、抓取情况、主从机械手的编程和在线修改程序、以及机械手的抓取情况。

关键词：主从机械手，编程，舵机，制动

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主从机械手

ABSTRACT

In today's mass manufacturing, the enterprises to improve production efficiency, ensure product quality, generally attaches great importance to the production process automation, industrial robot as an important member of automation production line by enterprise gradually is accepted and adopted. Industrial robot technology level and application level in a certain extent reflects a country's industrial automation level, at present, the industrial robot is mainly responsible for welding, spraying, such as transportation and stacking repetitive work and labor intensity greatly, works usually take the way of teaching and reappearing.

Design idea of master-slave manipulator is: the design of an active robot as operation use, operation personnel according to his intentions active robot control actuators for movement, at the end of the active signal value generated in each joint of the robot is as to the driven end driving instruction value of each joint. Master-slave robot is divided into a unidirectional and bidirectional type, in a double type operating system, driven robot in the operation of the strength and other information can be feedback relating to the operating personnel, in order to try to adjust the power size.

First of all, in this paper, the design of the robot base, arm, forearm, and the structure of the manipulator, and then choose the appropriate drive mode, drive mode, set up the structure of the robot platform; On this basis, this paper will design the robot's control system, including the steering gear set, AD (AD no conversion mode) to set up and the IO Settings, focus on strengthening the reliability of the control software and robot operation security, achieve the goal of including: joint servo control and braking problems, real-time monitoring of the master-slave manipulator rotation, grab, master-slave manipulator programming and modify the program, as well as onlineGrasping situation of the manipulator.

KEY WORDS：steering engine，magic hand，programming，apply the brake

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