Design on the Currency Pneumatic Loading
and Unloading Manipulator
ABSTRACT
At first,the paper introduces the conception of the industrial robot and the elertary information of the development briefly. What's more,the paper accounts for background and the primary mission of thetopic.
The paper introduces the function,composing and classification of the manipulator,tells out the free-degree and the form of coordinate.At the same time,the paper gives out the primary specification parameter of this manipulator.
This paper designs the structure of the hand and the equipment of the drive of the manipulator,and analyzes the error of the orientation of the fingers.
The paper designs the structure of the wrist,computes the needed
moment of the drive when the wrist wheels and the moment of the drive of the pump.
The paper designs the structure of the arm,and designs the hydraulic pressure buffer when the manipulator's arm flexes,ascend,descend and wheels .
The paper designs the system of air pressured rive and draws the work principle chair.
The manipulator uses PLC to control.The paper institutes two controls chemes of PLC acordine to the work flow of the manipulator.The paper draws out the work time sequence chart and the trapezia chart.What’s more,the paper work out the control program of the PLC.
KEY WORDS industrial robot, manipulator, pump, air pressure drive, PLC
第二章機械手的設計方案
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