包装机器人结构及控制系统设计

毕业设计（论文）题目生产线包装机器人结构及控制系统设计专业机械设计制造及自动化学号111310507学生指导教师答辩日期2015.06.28哈尔滨工业大学本科毕业设计（论文）I摘要我国包装机械行业起步于20世纪70年代,在80年代末和90年代中得到迅速发展。现已成为机械工业中的10大行业之一,无论是产量,还是品种上,都取得了令人瞩目的成就,为我国食品工业和包装工业的快速发展提供了有力的保障。在工业上，自动控制系统有着广泛的应用，如工业自动化机床控制，计算机系统，机器人等。而工业机器人是相对较新的电子设备，它正开始改变现代化工业面貌。现场可编程门阵列(FPGA)器件集成度高、体积小、速度快，以硬件电路实现算法程序，将原来的电路板级产品集成为芯片级产品，从而降低了功耗，提高了可靠性。基于FPGA具有灵活的编程功能，能实时方便地实现复杂的控制算法。本文的控制系统改变传统的做法，选择FPGA。本次设计为四自由度圆柱坐标型工业机器人，其工作方向为两个直线方向、一个旋转方向和一个挟持动作。在FPGA控制器的作用下，它执行将工件从一条流水线拿到另一条流水线这一简单的动作,本文的设计工作是完成生产线包装机器人的结构和控制系统设计。关键词：包装机械；EDA;机器人；FPGA;编程；结构和控制系统哈尔滨工业大学本科毕业设计（论文）IIAbstractOurproductionlinepackagingmachineryindustrystartedinthe1970s,therapiddevelopmentinthelate1980sand1990s.Machineryindustryhasbecomeoneofthe10majorindustries,whetheritisproduction,orvariety,havemaderemarkableachievements,therapiddevelopmentofChina'sindustrialandfoodpackagingindustrytoprovideastrongguarantee.Inindustry,automaticcontrolsystemhasawiderangeofapplications,suchasindustrialautomationandmachinecontrol,computersystems,robotics.Theindustrialrobotisarelativelynewelectronicdevices,itisstartingtochangethefaceofmodernindustry.Field-programmablegatearray(FPGA)devices,highintegration,smallsize,highspeed,hardwarecircuitalgorithmprogram,theoriginalboard-levelproductintegrationforthechip-levelproducts,therebyreducingthepowerconsumptionandimprovereliability.FPGA-basedflexibleprogrammingcapabilities,real-timetoeasilyimplementcomplexcontrolalgorithms.Controlsystemtochangethetraditionalapproachofthisarticle,selecttheFPGA.Thedesignforthefourdegreesoffreedomcylindricalcoordinatesindustrialrobot,workingtowardstwolineardirection,adirectionofrotationandapinchingaction.IntheroleofFPGAcontroller,itperformsthepiecetogetanotherlinefromthesimpleactofapipeline,thedesignworkofthispaperistocompletethedesignstructureandcontrolsystemproductionlinepackingrobot.Keywords:packagingmachinery，EDA，robot，FPGA，programming，structureandcontrolsystem哈尔滨工业大学本科毕业设计（论文）III目录摘要.............................................................................................................................IAbstract.............................................................................................................................II第1章绪论....................................................................................................................11.1课题背景及研究的目的和意义...........................................................................11.2机器人相关理论的发展概况...............................................................................11.3FPGA的发展、分类和应用.................................................................................21.4本文研究的内容...................................................................................................3第2章生产线包装机器人的机械系统设计................................................................52.1工业机器人的机械系统总体设计........................................................................52.1.1工业机器人的各部分组成及关系..................................................................52.1.2生产线整体尺寸的方案设计和规划..............................................................62.1.3工业机器人的运动系统分析..........................................................................82.2旋转基座的传动路线和结构设计........................................................................92.2.1电机选择........................................................................................................102.2.2锥齿轮的设计及强度校核............................................................................122.2.3谐波减速器的设计计算................................................................................152.2.4同步带传动设计............................................................................................162.3上下移动丝杠副的设计......................................................................................172.3.1丝杠副的运动特性........................................................................................172.3.2丝杠选型计算................................................................................................182.4.3末端执行器的机构设计................................................................................192.5整体结构的优化设计..........................................................................................212.6基于simulation机械手导轨静力学及频率仿真分析........................................232.6.1机械手导轨受力分析....................................................................................232.6.2机械手导轨静力学分析................................................................................242.6.3机械手导轨频率分析....................................................................................272.7本章小结..............................................................................................................28第3章基于FPGA的控制系统设计..........................................................................30哈尔滨工业大学本科毕业设计（论文）IV3.1控制系统原理......................................................................................................303.1.1PWM(PulseWidthModulation)控制原理....................................................303.2控制系统硬件电路最小系统设计.....................