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黑龍江工程學(xué)院本科生畢業(yè)設(shè)計(jì) I 摘 要 本次設(shè)計(jì)主要設(shè)計(jì)自動(dòng)上下料機(jī)械手的機(jī)械系統(tǒng)。該系統(tǒng)要實(shí)現(xiàn)的是 4 自由度 （RPRR R—回轉(zhuǎn)關(guān)節(jié) P—直線運(yùn)動(dòng)關(guān)節(jié)）關(guān)節(jié)型機(jī)械手的運(yùn)動(dòng)，本設(shè)計(jì)選用液壓驅(qū)動(dòng) 系統(tǒng)。液壓驅(qū)動(dòng)應(yīng)用廣泛，傳動(dòng)平穩(wěn)，且易于控制。該系統(tǒng)的控制系統(tǒng)采用一般 PLC 所具有的位移寄存器和位移指令來編程。 關(guān)鍵詞：機(jī)械手；4 自由度；關(guān)節(jié)型；液壓驅(qū)動(dòng)；控制系統(tǒng) 黑龍江工程學(xué)院本科生畢業(yè)設(shè)計(jì) II ABSTRACT This paper designs automatic loading and unloading manipulator's mechanical system. This system may realize 4 degreesof freedom (RPRR R rotation joint P translation joint) the joint manipulator movement.This design selects the hydraulic driving system. Thehydraulic driving application is widespread.The transmission is steady.Also control is easy . Control systemof this system uses the displacement register and the shift order which general PLC hasprograms. The control system of this system can program by using the displacement register and displacement instruction of PLC. Key words: Manipulator; 4 degrees of freedom; Joint; Hydraulic; Driving system; Control system