內容簡介：
摘要:在當今大規模製造業中，企業為提高生產效率，保障產品質量，普遍重視生產過程的自動化程度，工業機器人作為自動化生產線上的重要成員，逐漸被企業所認同並採用。工業機器人的技術水平和應用程度在一定程度上反映了一個國家工業自動化的水平，目前，工業機器人主要承擔著焊接、噴塗、搬運以及堆垛等重複性並且勞動強度極大的工作，工作方式一般採取示教再現的方式。
本文將設計一台四自由度的工業機器人，用於給衝壓設備運送物料。首先，本文將設計機器人的底座、大臂、小臂和機械手的結構，然後選擇合適的傳動方式、驅動方式，搭建機器人的結構平台；在此基礎上，本文將設計該機器人的控制系統，包括數據採集卡和伺服放大器的選擇、反饋方式和反饋元件的選擇、端子板電路的設計以及控制軟體的設計，重點加強控制軟體的可靠性和機器人運行過程的安全性，最終實現的目標包括：關節的伺服控制和制動問題、實時監測機器人的各個關節的運動情況、機器人的示教編程和在線修改程序、設置參考點和回參考點。
關鍵詞：機器人，示教編程，伺服，制動
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
