目录前言.........................................................................................................................................3第一章绪论...........................................................................................................................41.1课题背景....................................................................................................................................................41.2机械臂国内外发展现状............................................................................................................................41.3课题的主要研究内容................................................................................................................................51.4课题的意义................................................................................................................................................6第二章机械臂的功能分析与方案确定.............................................................................72.1机械臂的功能分析....................................................................................................................................72.2机械臂的总体方案的确定........................................................................................................................72.2.1机械系统方案的确定.........................................................................................................................72.2.2电气控制系统的设计.........................................................................................................................72.3本章小结....................................................................................................................................................7第三章机械臂机械系统设计..............................................................................................93.1机械系统分析及器件选择........................................................................................................................93.1.1步进电机的选择.................................................................................................................................93.1.2步进驱动器的选择.............................................................................................................................93.2机械臂的机械运动设计..........................................................................................................................103.2.1确认4自由度机械臂的机械运动方式............................................................................................103.2.2运用三维软件Solidworks绘制机械臂的零件图............................................................................103.2.3运用Solidworks进行零件装配........................................................................................................113.2.4运用Solidworks进行仿真................................................................................................................12第四章可编程控制器与触摸屏......................................................................................134.1可编程控制器..........................................................................................................................................134.1.1概述..............................................................
