摘要随着生产自动化技术迅速发展，现已能将一些人工所不能完成的事情由机电一体化设备来进行处理,自动化的发展不仅大大提高了工业生产的精准度以及产品的数量,也解放了劳动生产力并且也大大的增加了安全系数。34567
随着自动化的发展，机械臂也被广泛的应用在机械的加工方面,现已发展成各个生产线中不可缺少的部分。机械臂在生产线中可以帮助人们做一些危险的工作，尤其是工作在对人体有危害的各个环境中，从而减少危险。
本篇论文研究的机械臂是用在物料的包装和搬运上。由传感器和限位开关来定位和检测是否完成规定的工作。设计中机械臂的动作由气缸带动、由可编程控制器控制系统。并且论文中所讨论的机械臂分为手动和自动两种方式。主要是为了出现故障的时候方便文修，并且其在特殊情况时，可以紧急停止。
论文中对传感器技术、可编程控制器技术、气动技术以及组态监控系统作了简单的介绍，并且根据设计要求设计了机械臂PLC的控制原理图，采用三菱编程软件画出了梯形图并进行了调试，以及组态软件进行监控。
毕业论文关键词    机械臂   可编程控制器    组态   气动
Abstract
Production automation technology developed rapidly since the 20th century, has been to cannot be done by some artificial processing by electromechanical integration equipment, the development of the automation not only greatly improve the accuracy of industrial production and the number of products, also liberated the labor productivity and also greatly increases the safety factor.
With the development of the automation, the mechanical arm has also been widely used in mechanical processing, has now developed into an integral part of the production line. Mechanical arm in the production line can help people do some dangerous work, especially work in each have a harm to human body environment, so as to reduce the risk.
This paper studies the mechanical arm is made on the material of packaging and handling. By the sensor and the limit switch to locate and detect whether complete work. In the design of the action of mechanical arm driven by cylinder, is controlled by PLC system. Of mechanical arm and discussed in the paper is pided into two types of manual and automatic mode. Mainly to the failure of time would be convenient for maintenance, and its in special circumstances, can be an emergency stop.
Paper of sensor technology, PLC technology, pneumatic technology, and introduced a simple configuration monitoring system, and according to design requirements to design the PLC control principle of mechanical arm, adopt mitsubishi sketched a ladder diagram programming software and debug, and monitor configuration software.
Key words    Manipulators  PLC   Aerodynamic   Configuration
目录
摘要    I
Abstract    II
1 绪论    1
1.1课题研究的背景与意义    1
1.2 机械臂在国内外的发展现状对比和发展趋势    1
1.3 设计中的主要内容和关键问题    2
1.4论文的主要结构的简单介绍    3
2 机械臂所用元件的介绍与选型    4
2.1 检测元件的介绍    4
2.2电机的介绍与选型    5
2.3变频器    7
2.4 本章小结    7
3 机械臂的系统设计    8
3.1机械臂控制方式    8
3.2 机械臂的驱动方式    9
3.2.1驱动方式    9
3.2.2气动技术    10
3.3 机械臂执行机构    10
3.4本章小结    11 PLC机械臂装配搬运系统设计+梯形图+源程序:http://www.751com.cn/zidonghua/lunwen_32099.html