基于工業(yè)機(jī)器人物件搬運(yùn)系統(tǒng)設(shè)計(jì)與制作--畢業(yè)論文

1、xx學(xué)院學(xué)生畢業(yè)設(shè)計(jì)論文I摘要本次畢業(yè)設(shè)計(jì)為工業(yè)機(jī)器人物件搬運(yùn)系統(tǒng)的設(shè)計(jì)與制作。利用工業(yè)機(jī)器人技術(shù)來改善生產(chǎn)線上的搬運(yùn)作業(yè)，從而替代工人重復(fù)性手動(dòng)操作。該設(shè)計(jì)需要自己畫出夾具吸盤，然后通過三維建模軟件CATIA設(shè)計(jì)出符合設(shè)計(jì)需要的夾具。目前工業(yè)機(jī)器人已經(jīng)擁有成熟的控制系統(tǒng)，通過編程與示教，對(duì)IRB120機(jī)器人的運(yùn)動(dòng)軌跡做出理想的路徑規(guī)劃，并對(duì)機(jī)器人運(yùn)動(dòng)范圍進(jìn)行完全的控制。根據(jù)程序的編寫來設(shè)定對(duì)工業(yè)機(jī)器人的運(yùn)動(dòng)路徑進(jìn)行物件搬運(yùn)。應(yīng)用Sma

2、rt組件創(chuàng)建動(dòng)態(tài)輸送鏈，包含設(shè)定輸送鏈產(chǎn)品源，輸送鏈運(yùn)動(dòng)屬性，輸送鏈限位傳感器等等，從而實(shí)現(xiàn)對(duì)機(jī)器人的物件搬運(yùn)控制，最后利用robotstudio軟件對(duì)整個(gè)工作站的工作過程進(jìn)行仿真。均在設(shè)計(jì)思路、設(shè)計(jì)方法、設(shè)計(jì)過程、設(shè)計(jì)特點(diǎn)方面做了詳細(xì)的分析與說明。關(guān)鍵詞關(guān)鍵詞：物件搬運(yùn)、CATIA建模、Smart組件、robotstudio仿真III目錄第一章序言............................................

3、............................................................................11.1機(jī)器人未來的發(fā)展趨勢..........................................................................................11.2對(duì)IRB6400和IRB120型兩類機(jī)器人進(jìn)行簡介...........

4、........................................21.2.1IRB6400型機(jī)器人.....................................................................................21.2.2IRB120型機(jī)器人..............................................................

5、.........................3第二章操作機(jī)器人............................................................................................................42.1示教器.......................................................................

6、..............................................42.1.1示教器簡介................................................................................................42.1.2注意事項(xiàng)與故障處理....................................................

7、.............................52.2機(jī)器人數(shù)據(jù)的備份與恢復(fù)....................................................................................52.2.1機(jī)器人的手動(dòng)操作..............................................................................

8、.......52.2.2單軸運(yùn)動(dòng)....................................................................................................52.2.3線性運(yùn)動(dòng)與重定位運(yùn)動(dòng).............................................................................62.3機(jī)器人操作.

9、..........................................................................................................62.3.1TCP的設(shè)定................................................................................................62.4機(jī)器

10、人使用及注意事項(xiàng)........................................................................................7第三章CATIA建模................................................................................................................8

11、3.1用CATIA創(chuàng)建支架模型........................................................................................83.1.1新建三維模型............................................................................................83.1.2創(chuàng)建支架的基礎(chǔ)