摘要机械手在先进制造领域中扮演着极其重要的角色。它可以搬运货物、分拣物品、代替人的繁重和危险劳动。可以实现生产机械化和自动化，能在有害环境下操作以保护人身的安全，因此被广泛应用于机械制造、冶金、电子、轻工和原子能等部门。本文在纵观了近年来机械手进展和应用状况的基础上，结合机械手系统方面的设计，对机械手结构进行了系统的分析，提出了用液压驱动和 PLC 控制的设计方案。采纳整体化设计思想，充分考虑了软、硬件各自的特点并进行互补优化。对多功能机械手的整体结构、执行结构、驱动系统和控制系统进行了分析和设计。在其驱动系统中采纳液压驱动，控制系统中选择 PLC 控制单元来完成系统功能的初始化、机械手的移动、故障报警等功能。最后设计了一种简单、易于实现、理论意义明确的多功能机械手。通过以上部分的工作，得出了经济型、有用型、高可靠型多功能机械手的设计方案，对其他的设计也有一定的借鉴价值。关键词：机械手；液压控制；可编程控制器（PLC）；自动化控制；仿真设计。ABSTRACT Manipulator plays an extremely important role in the field of advanced manufacturing. It can carry goods, sort materials and do heavy works instead of the human being. It also can realize mechanization and automation of the production, do the jobs in harmful environment to protect the personal safety. So it is widely used in metallurgy, machinery manufacturing, electronics, light industry and atomic energy etc.In this paper,by reviewing the developmental status of the manipulator in recent years, combining the design of manipulator and systematic analyzing technology of the manipulator, We proposed the design scheme that the manipulator was driven by the hydraulic and the system was controlled by PLC. Integrative idea was adopted in this design to fully consider the characteristics of the software and hardware and complementary optimization. We analyzed and designed the overall structure, the implementation of structural, driving system and control system of the manipulator. We u...
