基于PLC控制机械手的运动设计

摘 要

本设计的控制对象为机械手，是具有六个自由度的关节型机器人，属于工业机器人中的一种。机器人不仅有较高的工作精度，极大地提高了生产效率，还能根据不同的环境进行适当的调整，有较强的适应性。该机械手各关节运动是通过步进电机进行控制的，PLC与位置控制模块向步进电机发出脉冲从而控制步进电机动作。位置控制模块是一种扩展的智能单元，能独立发出脉冲来控制步进电机运作，并提供了多种控制模式供用户选择。

文中介绍了搬运机械手系统的设计过程，详细论述了机械手运动轨迹规划的过程以及PLC与位置控制模块对步进电机进行控制的方式。采用RS232总线与其它PLC组成工业控制网络，完成了对多台步进电机的同时控制，可以达到较高控制的精度，实现了位置控制的目的。

关键词：机械手；运动轨迹；PLC；步进电机 ABSTRACT

Control object of the present design is manipulator which is an articulated robot

with six degrees of freedom belonging to an industrial robot. The robot not only has

higher accuracy, which greatly improves production efficiency, but also makes an

appropriate adjustment depending on the environment, there is a strong adaptability.

Joint movement of the manipulator is controlled by the stepper motor, PLC and

position control module send pulses to the stepper motor to control the stepper motor

action. Position control module is an extension of the intelligent unit, which can send

pulses to control the stepper motor operation, and provides a variety of control modes

for the user to choose.

This paper introduces the design process of the handling manipulator system,

discusses the robot trajectory planning process in detail as well as PLC and position

control module of the stepper motor in a controlled manner. The RS232 bus with other

PLC forms an industrial control network, completed the control on the stepper motor at

the same time, which can achieve a higher control accuracy to achieve the purpose of

the position control.

Key Words：Manipulator；Motion trajectory；PLC；Stepper motor

I 目 录

1绪论 ............................................................................................................................... 1

1.1机器人概述 ......................................................................................................... 1

1.2研究内容 ............................................................................................................. 3

2机械手系统的硬件设计 ............................................................................................... 4

2.1机械手硬件结构 ................................................................................................. 4

2.2机械手的保护装置 ............................................................................................. 5

2.3设计控制总体方框图 ......................................................................................... 6

2.4 PLC型号的选择 ................................................................................................. 6

2.5位置控制模块的选择及其基本功能 ................................................................. 8

2.6步进电机及其驱动器 ....................................................................................... 11

2.6.1步进电机的选择 ..................................................................................... 11

2.6.2步进电机驱动器 ..................................................................................... 12

2.6.3步进电机的控制与接线 ......................................................................... 14

3轨迹规划与方案选择 ................................................................................................. 17

3.1机械手运动轨迹的要求 ................................................................................... 17

3.2轨迹规划的方法 ............................................................................................... 17

3.3轨迹规划的方案比较与选择 ........................................................................... 17

3.3.1方案比较 ................................................................................................. 17

3.3.2机械手转角计算步骤 ............................................................................. 18

3.4机械手转角的简便计算方法 ........................................................................... 20

3.5输出脉冲数的计算 ........................................................................................... 24

4 PLC控制机械手运动轨迹软件设计与分析 ............................................................. 25

4.1控制过程分析 ................................................................................................... 25

4.2 I/O分配 ............................................................................................................. 26

4.3程序设计 ........................................................................................................... 28

结 论 ........................................................................................................................ 38

参考文献 ........................................................................................................................ 39