机械手是一种能模仿人的手和手臂的某些动作功能，用于抓取和搬运物体或按固定程序操作工具的自动操作装置。其特点是可以通过编程完成各种预期操作，其结构和性能结合了人和机械手机器各自的优点。

以下是985论文网给大家推荐的关于机械手论文范文，希望对在寻找机械手论文的学者有所帮助。

《基于PLC的工业机械手控制系统设计》

摘要

机械手是一种模拟人类操作的自动机器，能按规定的程序掌握和处理物体或工具，完成一定的操作。工业机械手通常作为机床的附加设备，如在自动机床或自动生产线上装卸和转移工件，在加工中心更换工具。专用机床上进行深孔镗孔的装卸工业机械手，可以完成工件的装卸，实现机床的自动化，提高生产效率。传统的机械手自动控制系统由继电器接触器控制组成，故障多，可靠性差，使用寿命短，维护困难。随着PLC的普及和改进，以及PLC本身的高可靠性和易于编程修改，使用PLC控制工业机械手将取得良好的效果。PLC已成为市场上成熟的产品。本文采用PLC控制工业机械手，给出了基于PLC的工业机械手控制系统的设计。结合工业机械手的基本原理和工作流程，完成工业机械手控制系统的总体框架，给出其软硬件设计方案。

关键词：PLC；机械手；电气控制

Abstract: The

manipulator is an automatic machine that simulates human operation. It can

master and process objects or tools according to prescribed procedures to

complete certain operations. Industrial manipulators are usually used as

additional equipment for machine tools, such as loading and unloading and

transferring workpieces on automatic machine tools or automatic production

lines, and changing tools in machining centers. The loading and unloading

industrial manipulator for deep hole boring on the special machine tool can

complete the loading and unloading of the workpiece, realize the automation of

the machine tool, and improve the production efficiency. The traditional

automatic control system of the manipulator is composed of relay contactor

control, which has many faults, poor reliability, short service life, and

difficult maintenance. With the popularity and improvement of PLC, as well as

the high reliability and easy programming modification of PLC itself, the use

of PLC to control industrial manipulators will achieve good results. PLC has

become a mature product on the market. This article uses PLC to control

industrial manipulators, and gives the design of an industrial manipulator

control system based on PLC. Combining the basic principles and workflow of

industrial manipulators, complete the overall framework of the industrial

manipulator control system, and give its software and hardware design schemes.

Keywords: PLC;

manipulator; electrical control

目录

摘要I

引言1

一、机械手设计时应考虑的问题1

二、工业机械手控制系统总体设计2

三、工业机械手控制系统硬件设计3

(一)主电路3

(二)PLC选择3

(三)I/O接线4

四、工业机械手控制系统软件设计4

五、结论5

参考文献6

[1]张志强.PLC在工业机械手控制系统中的应用与技术研究[J].山东工业技术,2018,000(011):129.

[2]王朝阳.基于PLC的工业机械手控制设计与组态监控[J].山东工业技术,2015(04):168-169.