⑴ 基於plc機械手控制系統設計的文獻有哪些
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[3] 王承義.機械手及其應用[M].北京：機械工業出版社，1981
[4]白傳悅.裝配機械手PLC控制系統[J].可編程式控制制器與工廠自動化,2006，6(5):134～136
[5] Saeed B.Niku,Introction to Robotics: Analysis, Systems, Application[M].USA: Pearson Ecation, 2001
⑵ 基於plc的機械手控制系統設計難度怎麼樣
咱有現成的
⑶ 基於plc機械手自動操作控制系統設計
摘 要
在工業生產和其他領域內，由於工作的需要，人們經常受到高溫、腐蝕及有毒氣體等因素的危害，增加了工人的勞動強度，甚至於危及生命。自從機械手問世以來，相應的各種難題迎刃而解。機械手可在空間抓、放、搬運物體，動作靈活多樣，適用於可變換生產品種的中、小批量自動化生產，廣泛應用於柔性自動線。機械手一般由耐高溫，抗腐蝕的材料製成，以適應現場惡劣的環境，大大降低了工人的勞動強度，提高了工作效率。機械手是工業機器人的重要組成部分，在很多情況下它就可以稱為工業機器人。工業機器人是集機械、電子、控制、計算機、感測器、人工智慧等多學科先進技術於一體的現代製造業重要的自動化裝備。廣泛採用工業機器人，不僅可以提高產品的質量與產量，而且對保障人身安全，改善勞動環境，減輕勞動強度，提高勞動生產率，節約原材料消耗以及降低生產成本，有著十分重要的意義。
本設計所用機械部件有滾珠絲杠、滑軌、氣控機械抓手等。電氣方面有可編程式控制制器（PLC）、編程器、步進電機、步進電機驅動器、直流電機、光電感測器、開關電源、電磁閥、旋轉碼盤、操作台等部件。可編程式控制制器發出兩路脈沖到步進電機驅動器，分別驅動橫軸、豎軸的步進電機運轉；直流電機拖動底座和手爪的旋轉；接近開關、微動開關、旋轉碼盤將位置信號反饋給主機，由主機發出指令來實現對手臂的伸縮、上下、轉動位置的控制；主機發信號到氣動電磁閥，以控制手爪的張合來抓放物體。本設計可根據工件的變化及運動流程的要求隨時更改相關參數，具有很大的靈活性和可操作性。
關鍵詞：可編程式控制制器；機械手；步進電機；步進驅動器；脈沖；感測器；直流電機Abstract
In the instrial proction and other fields, people often endangered by such factors as high temperature, corrode, poisonous gas and so forth at work, which have increased labor intensity and even jeopardized the life sometimes. The corresponding problems are solved since the robot arm comes out. The robot arms can catch, put and carry objects, and its movements are flexible and diversified. It applies to medium and small-scale automated proction in which proction varieties can be switched. And it is widely used on soft automatic line. The robot arms are generally made by withstand high temperatures, resist corrosion of materials to adapt to the harsh environment. So they reced the labor intensity of the workers significantly and raised work efficiency. The robot arm is an important component of instrial robots, and it can be called instrial robots on many occasions. Instrial robot is set machinery, electronics, control, computers, sensors, artificial intelligence and other advanced technologies in the integration of multidisciplinary important modern manufacturing equipment. Widely using instrial robots, not only can improve proct quality and proction, but also is of great significance for physical security protection, improvement of the environment for labor, recing labor intensity, improvement of labor proctivity, raw material consumption savings and lowering proction costs.
There are such mechanical components as ball footbridge, slides, an air control mechanical hand and so on in the design. A programmable controller, a programming device, stepping motors, stepping motors drives, direct current motors, sensor, switch power supply, an electromagnetism valve and control desk are used in electrical connection. The programmable controller output two lines pulses to stepping motors drives to drive the two stepping motors drives on beam and vertical axis; direct current motors drive the rotation of the base and the hand; sensors send signals of location to the mainframe, and the mainframe sends directive to control the extension and contraction, up and down, moves location; the mainframe send signals to control the opening and closing of the hand to carry objects. Related parameters can be changed according to request of the changes of the objects and movement flow at any time change the relevant parameters in the design, so it has great flexibility and operability.Key words: Programmable controller; Robot arm; Stepping motor; Stepping motors drive; Pulse; Sensor；Direct current motor