教育机器人生产线装配串联机器人控制系统设计.pdf

摘 要 工业机器人的实际应用是该系列机器人最常见的应用，主要应用在机械 加工、焊接、热处理、表面涂层、上下材料、装配等工作，因此机器人的工 作效率和质量是衡量其性能的重要指标。因此，有必要开展生产线装配串联 机器人设计和研究工作。 首先通过六自由度机器人进行总体结构与功能的分析，最终确定方案设 计；之后进行了六自由度串联机器人硬件设计：包括单片机、气动系统、电 机、减速器等硬件进行选型、电路设计以及总体硬件设计；最后，进行六自 由度机器人控制系统软件设计，包括用protues 软件系统设计，用 KeilC51 软 件进行编程，使六自由度机器人的运行满足设计要求。 关键词：六自由度机器人；硬件；软件 Abstract The practical application of industrial robots is the most common application of this series of robots. They are mainly used in mechanical processing, welding, heat treatment, surface coating, upper and lower materials, assembly and so on. Therefore, the working efficiency and quality of robots are important indicators to measure their performance. Therefore, it is necessary to carry out the design and research of assembly line serial robot. Firstly, through the analysis of the overall structure and function of the six-degree-of-freedom robot, the final scheme design is determined; then, the hardware design of the six-degree-of-freedom serial robot is carried out, including the hardware selection, circuit design and overall hardware design of single-chip computer, pneumatic system, motor, reducer and so on; finally, the software design of the six-degree-of-freedom robot control system is carried out, including the use of protues. The software system is designed and programmed with Keil C51 software, so that the operation of the six-degree-of-freedom robot meets the design requirements. Key words: 6-DOF robot; kinematics analysis; software 目录 摘 要2 第 1 章 绪 论1 1.1 选题的背景及意义1 1.2 串联机器人的应用情况2 1.3 主要研究内容4 第 2 章 总体方案6 2.1 六自由度串联机器人结构与工作原理6 2.2 系统主要参数及技术指标8 2.3 总体控制方案设计10 2.4 本