长春大学毕业设计（论文）纸摘要随着人类科技的进步，社会经济的发展，机械手的应用领域也在不断的扩大。在人类社会中，凡是有人类活动的地方，都能看到机械手的身影。机械手产品的应用已经由海洋开发和宇宙探测等高端科学领域向建筑、挖掘甚至是服务娱乐等民用领域发展了，并且各式各样的机械手正在涌现出来，以惊人的速度延伸到人类活动的各个领域。机械手是由于人类生产水平的发展，产品生产质量和生产率的提高而出现的。论文的主要是基于小型PLC的机械手运动控制系统设计，本文中机械手涉及八个动作过程，依次是下降、夹紧、上升、右移、下降、松开、上升、左移。在程序设计时，选用西门子S7-200型PLC,将通过V4.0STEP7 MicroWINSP6PLC编程软件来对其工作过程进行编程设计，为了提高机械手的可操作性，还将加入机械手人机界面设计，通过触摸屏来对机械手进行操作，人机界面能更加直观方便的对机械手的运动过程进行控制和实时监控，使用SIMATIC WinCCf1exib1e2007人机界面软件来对机械手人机界面进行设计，使用PLC编程控制器和人机界面一起对工业机械手的运动过程进行控制。关键词：机械手：PLC;组态模拟毕业设计（论文）纸AbstractWith the progress of human science and technology,the development of socialeconomy,the field of application of mechanical hand is also expanding.In the humansociety,where there is a place for human activities,can see the figure of the robothand.The application of manipulator has by the ocean exploitation and exploration ofthe universe and other high-end science to construction,mining and entertainmentservices,and other civilian areas of development and all kinds of mechanical hand isemerging.With amazing speed extends to all areas of human activity.Manipulator isdue to the development of human production level,product quality and productivityof the emergence of the increase.The main is based on Small PLC manipulatormovement control system design,the mechanical hand involves eight action process,followed by decline in clamping,rising,shifted to the right,down,loosen,up,leftshift.In the program design,selection of Siemens S7-200 PLC,will by v4.0 step 7microwin SP6PLC programming software and the working process of programmingdesign,in order to improve the manipulator operation.Will also join the manipulatorman-machine interface design,through the touch screen to the manipulator intooperation,the man-machine interface can more intuitive and convenient of themanipulator motion process of control and real-time monitoring,the 2007man-machine interface software to manipulator man-machine interface design usingSIMATIC WinCC flexible,together to industrial machinery hand movement processcontrol using PLC and man-machine interface.Key words:manipulator;PLC;configuration simulation长春大学毕业设计（论文）纸目录第1章绪论11.1研究背景及意义11.2研究现状1第2章相关概述32.2机械手的基本结构及机械手的种类345第3章机械手PLC控制系统设计..3.1机械手各部件的设计....73.1.1机械手手爪结构设计..73.1.2机械手手腕结构设计..3.1.3机械手手臂结构设计...83.1.4机械手的机械传动机构设计3.1.5机械手手臂的平衡机构设计93.2机械手控制程序设计...93.2.1PLC的应用设计步骤3.2.2控制系统PLC选型103.2.3PLC控制器程序设计10第4章机械手监控系统设计..…154.1组态软件简介....154.1.1组态软件..154.1.2组态王..154.2监控系统设计..164.2.1监控界面..1617第5章结论与展望..…235.1机械手设计时应考虑的几个问题235.2展望..2326参考文献2728