氣動(dòng)指揮機(jī)械手臂設(shè)計(jì)

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1、**********學(xué)士學(xué)位論文學(xué)號(hào):A*****氣動(dòng)指揮機(jī)械手臂設(shè)計(jì)學(xué)生姓名：***指導(dǎo)教師：***所在院系：工程學(xué)院所學(xué)專業(yè)：機(jī)械設(shè)計(jì)制造及其自動(dòng)化研究方向：流體傳動(dòng)控制**********中國(guó)·****2009年6月BachelorDegreeDissertationNo：******DesignonMechanicalArmControlledbyPneumaticTransmissionStudent:***Supervisor:***College:EngineeringCollegeSpeciality:Mechanicaldesignandmanuf

2、actureandautomatizationDirection:Fluidtransmissioncontrol************·ChinaJune2009氣動(dòng)指揮機(jī)械手臂設(shè)計(jì)摘要本文主要圍繞著氣動(dòng)指揮機(jī)械手臂的設(shè)計(jì)過程進(jìn)行闡述和分析，文中主要討論了以下幾個(gè)方面的內(nèi)容：氣動(dòng)指揮機(jī)械手臂的整體設(shè)計(jì)、機(jī)械手臂的運(yùn)動(dòng)模擬、氣動(dòng)系統(tǒng)回路設(shè)計(jì)、氣動(dòng)元件的選型以及指揮機(jī)械手臂控制部分設(shè)計(jì)。在設(shè)計(jì)過程中提出了一種新的設(shè)計(jì)思路，即對(duì)不確定的各個(gè)設(shè)計(jì)參數(shù)的擬人動(dòng)作機(jī)械人進(jìn)行動(dòng)態(tài)仿真分析，從模擬試驗(yàn)中得到所需的各參數(shù)和標(biāo)準(zhǔn)。氣動(dòng)指揮機(jī)械手臂的整體設(shè)計(jì)主要針對(duì)機(jī)械手臂的自由度、

3、工作空間、工作速度、控制方式和驅(qū)動(dòng)方式進(jìn)行講述；機(jī)械手臂的模擬運(yùn)動(dòng)將利用ADAMS運(yùn)動(dòng)仿真軟件進(jìn)行運(yùn)動(dòng)分析和數(shù)據(jù)采集；氣動(dòng)回路設(shè)計(jì)中將針對(duì)模擬結(jié)果的要求對(duì)系統(tǒng)的氣動(dòng)部分進(jìn)行設(shè)計(jì)，并在后面的章節(jié)中對(duì)氣動(dòng)元件進(jìn)行選型；最后的手臂控制部分設(shè)計(jì)中，采用了可編程控制器（PLC）控制的方法來實(shí)現(xiàn)各氣缸的順序和周期動(dòng)作。關(guān)鍵詞：氣動(dòng)指揮機(jī)械手臂；ADAMS仿真；氣動(dòng)系統(tǒng)回路設(shè)計(jì)；PLC控制；IV氣動(dòng)指揮機(jī)械手臂設(shè)計(jì)DesignonMechanicalArmControlledbyPneumaticTransmissionThispaper,focusingonthedesigno

4、fpneumaticcommandmechanicalarmprocessandanalyze.Thisarticlemainlydiscussesthefollowingseveralaspectsofcontent:SuchasThepneumaticcommandmechanicalarmoftheoveralldesign;Mechanicalarmmovementsimulation;Designingthesystemofpneumatic;Choosingthetypeofthepneumaticcomponent;Designofmechanical

5、armcommandcontrolsection.Inthedesignprocesspresentsanewdesignidea,namelytheuncertaintyofthevariousdesignparametersofpersonificationactionondynamicsimulation,robotsfromsimulationexperimentoftheparametersandthestandardrequired,itwillaimatthemechanismarms’freedom;Workingspace;Workingspeed

6、;Themodeofcontrol;Themodeofdrive.ThemechanicalarmofthemotionsofADAMSsoftwaretomotionsimulationanalysisanddatacollectionforsports.Inthesectionofdesigningthepneumatics’system,Iwilldesignthepartofpneumaticsinthewholesystemandchoosetypeofthepneumaticscomponentsinthenextone.Thelastsectionab

7、outdesigningofthepneumaticdirectmanipulator’scontrol,Thearmusingtheprogrammablelogiccontroller(PLC)controlmethodtorealizethecylindersequenceandcycle.Keywords:pneumaticcommandthemechanicalarm;ADAMSsimulation;pneumaticsystemdesign;PLCcontrol;IV氣動(dòng)指揮機(jī)械手臂設(shè)計(jì)目錄摘要I英文摘要II目錄III1前言11.1機(jī)械手的發(fā)展史11