摘要:虽然各行各业的自动化水平越来越高，可在机械工业中，加工、装配等生产很大程度上是不连续的。许多调查表明，装卸、搬运等工序迫切需要实现机械自动化，而工业机械手就是为实现这些工序的自动化而产生的。工业机械手适用于可变换生产品种的中、小批量自动化生产中。

　　　本文首先简要介绍了工业机械手的概念、组成和分类，电气控制、驱动技术的特点，以及机械手在国内外的发展现状和前景。

　　　然后本文在功能实现、加工水平和研制资金之间权衡，对机械手进行总体方案设计，从关节坐标形式出发研究设计，认为2轴转动关节组成的机械手可在资金预算内基本实现目的功能——搬运板材金属工件；进而选定使用步进电机作为驱动单元，实现机械手反复转动定位，并对相关参数计算以校核电机；然后陆续选定手腕结构为对工件表面损伤最少的真空吸盘，设计传动方案和校核主要零件强度，设计PLC可编程控制器、步进电机驱动器、步进电机和真空电磁阀之间的电路连接，最后编写PLC控制程序实现机械手两种运动模式。

关键词：机械手；步进电机；真空吸盘；PLC

ABSTRACT:Although all walks of life increasingly high level of automation in the machinery industry, fabrication, assembly and production largely is not continuous. Many surveys show that the loading and unloading process an urgent need for machine automation, industrial robot is to automate these processes. The industrial robot can transform the production of varieties, the automated production of small quantities. 

　　　This paper briefly describes the characteristics of concept, composition and classification of the industrial robot, electrical control, drive technology, as well as the robot in the development of domestic and international status and prospects. 

　　　Then in the functional trade-off between the actual processing and the development of capital, the overall design, the robot starting from the form of joint coordinate the research design, that the 2-axis rotary joint robot in the capital budget, the basic purpose functions - moving metal workpiece; selected and then use the stepper motor as the drive unit, the robot repeatedly rotating the positioning calculation to check the motor and related parameters; then successively selected wrist structure of the vacuum suction on the surface damage at least, the design transmission scheme design and check the main parts strength, PLC programmable controller, stepper motor driver, stepper motor and the vacuum solenoid valve circuit connection, the final preparation of the PLC control program to achieve the robot two kinds of movement pattern. 

Keywords: Manipulator; Stepper motor; Vacuum suction; the PLC