KUKA 6KG机器人旋转控制系统设计+源程序
毕业论文关键词： KUKA 机器人；旋转；控制系统
KUKA 6KG Robot Rotary Control System’s Design
Abstract: Industrial robot is an industry field, much more freedom of joint manipulator or robots. Industrial robot is automatically performing work machine device, is to rely on its own power and control ability to make all sorts of function of a machine. The application of robot has been more and more widely used and the require is bigger and bigger.Its research and development becomes deeper and deeper.This will improve the effective of society and the quality of production.Also it will make great poverty for the society.KUKA is a German manufacturer of industrial robots and solutions for factory automation.The industrial robots are used in a number of application areas, such as material handling, loading and unloading of machines, palletizing and depalletizing, spot and arc welding.Full article introduced the development of industrial robots. It researched the construction,controller and safty&operation of KUKA robots, even the operate process.Also, we wrote a programming by KUKA language on the basis of relevent data.
Keywords: KUKA Robot; Rotary; Control System
目录
摘要 i
Abstract i
目录 ii
1 绪论 1
1.1 研究的目的和意义 1
1.2 工业机器人在国内外研究现状与水平 2
1.2.1 国外工业机器人的发展现状 2
1.2.2 国内工业机器人的发展现状 3
1.3 工业机器人的发展趋势 4
1.3.1 国外发展趋势 4
1.3.2 国内发展趋势 5
2 KUKA机器人的简介 6
2.1 KUKA机器人的结构以及坐标系统 6
2.1.1 KR 6-2机器人结构 6
2.1.2 KUKA机器人的坐标系统 8
2.2 KUKA机器人的控制器 10
2.2.1 smartPAD 10
2.2.2 KR C2 13
2.3 KUKA 6KG机器人安全使用规程 14
2.3.1 一般安全规定 14
2.3.2 安全功能 15
2.3.3 安全范围和工作范围 16
2.4 KUKA 6KG机器人操作手册 16
2.4.1 手动操作 17
2.4.2 程序的手动T1模式运行 18
2.4.3 程序的手动T2模式运行 18
2.4.4 程序的自动AUTO模式运行 18
3 KUKA机器人的编程 19
3.1 编程软件 19
3.1.1 KUKA.Sim 简介 19
3.1.2 KUKA.Sim 特点 19
3.2 编程 20
3.2.1 程序编辑 20
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