三自由度的工业机械手设计.doc

摘 要 在当今大规模制造业中，企业为提高生产效率，保障产品质量，普遍重视生产过程的自动化程度，工业机械手作为自动化生产线上的重要组成部分，逐渐被企业所认同并采用。工业机械手的技术水平和应用程度在一定程度上反映了一个国家工业自动化的水平，目前，工业机械手主要承担着焊接、喷涂、搬运以及堆垛等重复性并且劳动强度极大的工作，工作方式一般采取示教再现的方式。 本文将设计一部三自由度的工业机械手，用于给设备运送物料。介绍机械手的作用，机械手的组成和分类，说明了自由度和机械手整体座标的形式。分析搬运机械手的设计理论与方法。全面分析搬运机械手的手部、手臂以及机身等主要部件的结构设计，本文将分析计算机械手的手部，臂部，机身的结构，然后选择合适的传动方式、驱动方式，搭建机械手的结构平台。 关键词：机械手，液压传动，液压缸 Abstract In the modern large-scale manufacturing industry, enterprises pay more attention on the automation degree of the production process in order to enhance the production efficiency, and guarantee the product quality. As an important part of the automation production line, industrial robots are gradually approved and adopted by enterprises. The technique level and the application degree of industrial robots reflect the national level of the industrial automation to some extent, currently, industrial robots mainly undertake the jops of welding, spraying, transporting and stowing etc. , which are usually done repeatedly and take high work strength, and most of these robots work in playback way. In this paper I will design an industrial robot with three DOFs, which is used to carry material for a punch. The paper introduces the function,composing and classification of the manipulator,tells out the free-degree and the form of coordinate. This article system elaboration industry manipulators design theory and method. The comprehensive exhaustive discussion has transported manipulators hand, the wrist, the arm ，the fuselage and so on ,which the major structural design computation. then choose proper drive method and transmission method, building the mechanical structure of the robot. KEY WORDS: manipulator， hydraulic power transmission，Hydraulic cylinder 目录 1绪论……………………………………………………………………… 4 1.1机械手的简史…………………………………………………… 4 1.2机械手的分类…………………………………………………… 4 1.3机械手的组成…………………………………………………… 5 1.3.1执行机构…………………………………………………… 5 1.3.2驱动机构…………………………………………………… 6