摘要工业机器人是精密机械技术和微电子技术相结合的机电一体化产品，它在工厂自动化和柔性生产系统等方面起着关键作用。随着工业机器人技术的发展，其应用已扩展到深海开发、宇宙探索、医疗福利和核科学研究等诸多领域。50786

本课题目的是想运用四年所学知识来进一步扩展ER 4U机械手臂的功能，本文先对工业机器人的情况作了一个初步了解，然后对机械手臂的机械机构系统和软件控制系统做了深入剖析，以此为基础设计了运动平台搭载机械手臂搬运物体的总体方案，计算出平台的相关参数绘制三维图，并对方案作了详细的可行性分析，同时选定伺服电机、编码器、微动开关等元件型号。再根据拟定好的控制流程图运用配套软件CellSetup 搭建仿真环境，并在软件RoboCell中进行了仿真。调试完机械手臂和外围设备后，进行实物模拟。最后对出现的问题进行总结和反思。

本设计与实际工况相结合，可以用于工业生产。

毕业论文关键词：工业机器人；机械手臂；运动平台；CellSetup；RoboCell 

Abstract Industrial robot is the combination of precision mechanical technology and microelectronics technology and mechanical and electrical integration of product, it is in terms of factory automation and flexible production system plays a key role. With the development of the industrial robot technology, its application has expanded to deep development, space exploration, medical benefits and nuclear science research, and many other fields.

Purpose of this project is to apply what they have learned four years to further expand the ER 4U mechanical arm function, this paper first industrial robot made a preliminary understanding of the situation, then the mechanical arm of the mechanical organ systems and software control systems to do a thorough analysis of as a basis for the design of the motion platform equipped with a mechanical arm moving objects in the overall program to calculate the platform rendering three-dimensional map of the relevant parameters, and the program made a detailed feasibility analysis, while the selected servo motors, encoders, micro-switches and other components models. Good control flowchart according to intended use of supporting software CellSetup build simulation environment, and in the software RoboCell in the simulation. After commissioning mechanical arm and peripheral devices, perform a physical simulation. Finally, the problems were summarized and reflection.

This design combined with the actual working conditions, can be used in industrial production.

Keywords: industrial robots; Mechanical arm; Motion platform; CellSetup; RoboCell

目录

第一章 绪论 1

1.1机器人的概念 1

1.1.1机器人名称的由来 1

1.1.2机器人的定义 1

1.1.3机器人的组成 2

1.1.4机器人的发展史 3

1.2工业机器人 4

1.2.1工业机器人的分类 4

1.2.2工业机器人技术的发展趋势 4

1.2.3机器人在我国发展遇到的问题 5

1.3  本次设计的主要内容和任务 6

第二章 总体方案设计 6

2.1概述 6

2.2平台的概要设计 7

2.2.1运动平台整体构想 7

2.2.2设计的基本依据