内容简介：: İ ABSTRACT In the modern large-scale manufacturing industry, enterprises pay more attention on the automation degree of the production process in order to enhance the production efficiency, and guarantee the product quality. As an important part of the automation production line, industrial robots are gradually approved and adopted by enterprises. The technique level and the application degree of industrial robots reflect the national level of the industrial automation to some extent, currently, industrial robots mainly undertake the jops of welding, spraying, transporting and stowing etc. , which are usually done repeatedly and take high work strength, and most of these robots work in playback way. In this paper I will design an industrial robot with four DOFs, which is used to carry material for a punch. First I will design the structure of the base, the big arm, the small arm and the end manipulator of the robot, then choose proper drive method and transmission method, building the mechanical structure of the robot. On this foundation, I will design the control system of the robot, including choosing DAQ card, servo control, feedback method and designing electric circuit of the terminal card and control software. Great attention will be paid on the reliability of the control software and the robot safety during running. The aims to realize finally include: servocontrol and brake of the joint, monitoring the movement of each joint in realtime, playback programming and modifying the program online, setting reference point and returning to reference point. KEY WORDS: robot, playback, servocontrol, brake 豸漰 1.1 涨Mechanical Hand 1 1958 1962Unimate洢, 1962Vewrsatran 1978UnimateUnimate-Vicarm11970豸 KnKa 1969 1977 豸FMSFMC 2 豸 3 棬滹涨仯 1.2 1 ( 1.2-1 ) 1.2-1 1 迪 2 2 90%綯 4-68-10 綯綯綯涨綯档档 3 洢涨 1.3 塢顢棬档 1.4 塣趨 Industrail Robot Mechanical Hand Manipulatorİİ Industral Robot ,IR1960GeorgeCPevol1954DevolConsolide Control Corp1959 Unimation(AMF)1962UnimateVersatranUnimateVersatran 19631967鶨19631967顣19671900 196819701968681969SAM21 19701970197219704顣200乲60Sundstrand50 1963Kavieldt 561958301986I19859廪 1.5 ? 75%505%İ 1.5.1 45綯 1.5.2 Y38飬崲棺160t崲200t崲400t崲崲120t40t崲 1.5.3 棬3t5t10t顣 1.6 1.6.1 1 2 2700, 3 4 1.6.2 , 綯, 1.6.3 1.7 ; 4; 10 kg () 11m; 0.6m; 1m; 180o; 嵵; 33.6 m/min; 16 m/min; 8m/min; 16 rpm; 0.6 mm; 170 ,; 600 kg. 2 2.1 2.1.1 1 2 3 4 2.1.2 1 2 3 2.1.3 2.1.3.1 =10Kg,İ, 巽, 仯, , , 2.1.3.2 (a) (b) 1 2 3 32FO1F1F2AB =0 =0 =0 h F= 3.1 amm. = 2.1.3.2 仯 1.22.0 a 0.030.5s GN FNMpaFNMpa5000 50000 a=100mm,b=50mm,;0.5s 硣 =1.02 =1.5 2 =1378N 3 4D d=0.5D,P=0.81MPa, 4.1JB826-66D

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