文档介绍：盐城工学院本科生毕业设计说明书 2011 球面 SCARA 机器人总体及控制系统设计摘要: 球面 SCARA 机器人是一种具有三个自由度的关节型装置。机器人的体积小, 传动原理简单,所以被广泛应用于电子电器行业,家用电器行业,精密机械行业等领域。球面机器人着重对球形工件表面定位控制系统设计进行了探究,确定了机电一体化的设计方案,把机械结构和 PLC 控制合理的融合在一起。其中,机器人的大臂,小臂,顶针都由步进电机驱动,采用三菱 FX2N 系列的 PLC 作为控制器。最终达到安全,稳定,准确的完成操作。首先,简单介绍了课题来源,国内外机器人的现状及发展趋势。其次,对 SCARA 球面机器人进行了总体设计,然后根据动作要求对机器人控制系统的硬件及软件进行设计。还要对编制的 PLC 程序在 GXsimulator 上进行仿真。最后,总结全文,展望了机器人的发展前景。本课题是机电结合较为紧密的实用性项目,文中对 PLC 的应用、机械总体结构进行了一些探究,对球面机器人的设计与研制方面积累了一些经验。关键词: SCARA 机器人;步进电机; PLC ;运动控制优秀机械毕业设计欢迎下载学****交流加 QQ 197216396 专业机械设计解君之忧 1 The Design of Overall and C ontrol system of Spherical SCARA Robot Abstract: A Spherical SCARA robot isana rticulated device posed of three degrees of freedom. Because of its small volume and simple drive principle, it is widely used in the field of electronic and electric industry, home-used electric industry and exact mechanism. This paper focuses on the control system design of the SCARA robot used in positioning on spherical surface and confirm s the design ofa project that mechanics and electrics are used together. The PLC and mechanical bined agreeably in the coordinating actions of the manipulator. Among this equipment, the robot arm, forearm , thimble pleted by the stepper motors. Meanwhile, the writer adopts the MITSUBISHI ’s FX series of PLC as controller. Ultimately achieve pletion of operation security, stability and accurately. Firstly, I introduce the resource, and review the development of robot inside and abroad. Secondly, plete the overall design of Spherical SCARA Robot , and then according to manipulate requirements to work out hardware and software design of the robot control system. But also for the preparation of the PLC program on the GX-simulator to simulate. Finally, I summarize the whole thesis, and look out the prospects of development of the robot. The subject isa practical item where the mechanics and electrics are integrated very closely. Ihave made a necessary discussion in the application of PLC, the design of mechanic