三 江 学 院 本科生毕业设计（论文）题 目 基于 PLC 的柔性制造系统的搬运机构的 控制系统设计 高 职 院 （系） 机械设计制造及其自动化 专业 摘 要在基于 PLC 的柔性制造系统为核心的基础上，重点进行了搬运机构的控制设计，详细叙述了该搬运单元由步进电机进行综合控制的软、硬件的实现方法。该设计利用步进电机单位脉冲所具有的步进距离不变的特点，对其采纳开环点位控制。因此可将整个运动视为拆线运动，每一个动作可视为运动程序相同、特征参数各异的点位相对运动。其以起点作为参考点，通过脉冲得到目的点的位置，手动点击按钮，实现机械手从参考点运动到目的点。关键词:柔性制造系统；PLC；机械手ABSTRACT In the basis of PLC as the core, with the focus on the control of the FMS handling unit design, this paper describes the handling unit consists of stepping motor comprehensive control the hardware and the software realization method. This design using the stepping motor unit pulse with the characteristics of step distance unchanged, the position control by the open loop. So the entire movement as take out stitches movement, every movement can be regarded as exercise program is same, characteristic parameters of the relative motion dealership network. His with starting point as a reference point, through the pulse count is purpose o 'clock position, manual click button, realize manipulator to destination reference point movement from the point. So as to realize the "Fang Hang" technical FMS movements.Key words：Flexible Manufacturing System;Programmable Controller;Manipulator目 录第一章 绪论..............................................11.1 基于 PLC 的柔性制造系统搬运机构的概述...........................11.2 机械手控制系统的背景和意义....................................21.2.1 可编程序控制器背景.........................................21.2.2 可编程序控制器的应用意义...................................21.2.3 可编程序控制器的特点..........................
