广州城市职业学院学生毕业论文毕业论文题目机械手分拣设计教学单位专业/班级姓名学号指导教师及职称年月日独创性声明本人声明所呈交的毕业论文（设计）是本人在导师指导下进行的研究工作及取得的研究成果。据我所知，除了文中特别加以标注和致谢的地方外，论文（设计）中不包含其他人已经发表或撰写过的研究成果，也不包含为获得广州城市职业学院或其他教育机构的证书而使用过的材料。与我一同工作的同志对本论文（设计）所做的任何贡献均已在论文中作了明确的说明并表示谢意。论文（设计）作者签名：签字日期：年月日摘要：所介绍的电动机械手由电控机械手、yz轴丝杠组、手转动机构、旋转底盘等机械部分组成，在PLC控制下，它可在行程范围内将物体从一点搬运至另一任意点，可置放于各种不同生产线或物流流水线中。关键词：机械手；PLC；步进电机中图分类号：TP241文献标志码：A文章编号：DesignoftheControlSystemof4-dimensionMotor-drivenMechanicalManipulatorBasedonPLCAbstract:Motor-drivenmechanicalmanipulatordisscussedinthispaperconsistsofpower-operatedmechanicalmanipulator,y-axisandz-axisscrewlevermodules,rotatrymechanismofmanipulator,rotated-plateatthebottometc.OnthecontrolofPLCsystem,itcantakebodiesfromoneplacetoanotherintherangeofitsjourney.Itcanbeplacedondifferentmanufactureassemblylinesorgoodscirculationlines.KeyWords:mechanicalmanipulator;PLC;stepmotor随着微电子技术、计算机和现代控制理论的不断完善，机械手技术也快速发展。按实现功能和驱动方式划分，机械手可以分为很多种。仅就驱动方式，就有气动（或液动）、电动和电气混合等。为实现不同的功能，有3个自由度的，也有4、5个自由度的，甚至还有6个自由度的。本文中，笔者仅论述基于PLC技术的4个自由度电动机械手的控制设计，它能满足绝大多数场合的搬运需要，并且可用于教学实验，具有良好的示范性和教学性。目录1.前言................................................................32.系统的总体设计及思路.................................................32.1控制要求····································································································42.2结构框图····································································································42.3系统框图····································································································53.系统的硬件设计.......................................................63.1PLC的发展概况···························································································63.1.1PLC的定义·························································································63.1.2PLC的特点·························································································63.1.3PLC的应用领域···················································································73.1.4三菱FX系列PLC·············································...
