摘 要
【摘要】
工业机械手是近几十年发展起来的一种高科技自动生产设备。工业机械手也是工业机器人的一个重要分支。他的特点是可以通过编程来完成各种预期的作业，在构造和性能上兼有人和机器各自的优点，尤其体现在人的智能和适应性。机械手作业的准确性和环境中完成作业的能力，在国民经济领域有着广泛的发展空间。
机械手的发展是由于它的积极作用正日益为人们所认识：其一、它能部分的代替人工操作；其二、它能按照生产工艺的要求，遵循一定的程序、时间和位置来完成工件的传送和装卸；其三、它能操作必要的机具进行焊接和装配，从而大大的改善了工人的劳动条件，显著的提高了劳动生产率，加快实现工业生产机械化和自动化的步伐。因而，受到很多国家的重视，投入大量的人力物力来研究和应用。尤其是在高温、高压、粉尘、噪音以及带有放射性和污染的场合，应用的更为广泛。在我国近几年也有较快的发展，并且取得一定的效果，受到机械工业的。
机械手是一种能自动控制并可从新编程以变动的多功能机器，他有多个自由度，可以搬运物体以完成在不同环境中的工作。
机械手的结构形式开始比较简单，专用性较强。 随着工业技术的发展，制成了能够独立的按程序控制实现重复操作，适用范围比较广的“程序控制通用机械手”，简称通用机械手。由于通用机械手能很快的改变工作程序，适应性较强，所以它在不断变换生产品种的中小批量生产中获得广泛的引用。
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ABSTRACT
Manipulator hand and arm can imitate the certain movements function, according to fixed program to grab, transporting or operating tool for automatic operation of the device. It can replace the hard labor in order to realize people the mechanization of manufacturing and automation, can in harmful environment operation to protect the personal safety and so widely used.
The type of manipulator, according to drive mode can be divided into hydraulic, pneumatic, electric and mechanical manipulator; According to applicable range can be divided into robots for and general manipulator two; According to the trajectory control mode can be divided into position control and continuous track control robots.
The design of the manipulator and add plane rotation type and structure, the action of the manipulator by pneumatic cylinder driving, pneumatic cylinder of the corresponding electromagnetic valve to control, electromagnetic valve controlled by MCU. Drive the implementation of the component finish, can very convenient embedded in all kinds of industrial production line. Manipulator used MCU control, and has high reliability, change program flexible, and other advantages, whether for time control or travel control or mixed control, can be set to realize through MCU program. According to the order of the manipulator action can modify the program, so that more of the manipulator strong generality.
Keywords: manipulator electromagnetic valve MCU
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目录
第一章 绪论································································1
1.1机械手的概述······························································1
第二章 机械手总体方案的设计··············································3
2.1机械手的基本结构··························································3 2.2机械手的控制要求··························································4 2.3机械手的控制方案设计······················································5 2.4机械手的手部结构··························································5
第三章 机械手硬件电路设计················································6
3.1单片机模块······························································· 6 3.2矩阵按键模块······························································9 3.3串口通信模块·····························································10
第四章 单片机总程序设计··················································11 第五章 系统调试···························································11 第六章 总结·······························································12 谢辞·······································································13 附录·······································································14 参考文献···································································15
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