柔性制造物料抓取及加工系统设计

摘  要

柔性制造加工环节中的并联机器人设计具有较强应用性，机械系统和控制器件较为复杂，尤其是应用在工业环境中，机械误差、信号干扰与电气之间的信号耦合较多，需要学生具有较高的机械设计能力与搭建低压电器控制电路的实践知识。

本次设计对柔性制造加工环节总体设计方案、并联加工机器人的机械与控制系统设计、系统中传动系统和驱动设备的选型以及计算；并联加工机器人具有6个自由度，传动机构有详尽的设计方案，传动部件与连杆结构应有具体的设计计算与校核；加工装置与并联机器人之间要体现柔性设计，控制系统部分完成电控单元中工控机、运动控制卡、电机的选型与电器控制原理图的绘制。

关键词：六自由度；并联加工机器人；运动控制卡；运动控制

Abstract

The design of parallel robot in the flexible manufacturing process has strong application. The mechanical system and control device are more complex，especially in the industrial environment，the mechanical error，signal interference and signal coupling between the electrical and the signal are more，especially in the industrial environment. Students are required to have high mechanical design ability and practical knowledge of building low-voltage electrical control circuit.

The overall design scheme of flexible manufacturing and machining links，the mechanical and control system design of parallel machining robot，the selection and calculation of transmission system and driving equipment in the system；Parallel machining robot has 6 degrees of freedom，transmission mechanism has a detailed design scheme，transmission components and linkage structure should be specific design calculation and verification；The flexible design should be embodied between the machining device and the parallel robot. In the part of the control system，the industrial control computer，the motion control card，the type selection of the motor and the drawing of the electrical control principle diagram of the electronic control unit should be completed.

Key words: six degrees of freedom；parallel machining robot；motion control card；clamping mechanism