消隙拉簧设计来解决机器人腰部传动中所产生的间隙.doc

全套资料，联系qq 695132052 摘 要 为了提高机器人的传动精度,满足实际工作需要,本课题对其腰部传动进行了消隙设计。根据机器人的工作要求和结构特点，进行了机器人的总体设计，确定了机器人的外形尺寸和工作空间，拟定了机器人各关节的总体传动方案，对机器人腰关节结构进行了详细设计，合理布置了电机和齿轮，确定了各级传动参数，分别对齿轮和轴进行了详细的设计计算并进行了校核。最后用双片薄齿轮错齿调隙法对其腰部传动进行了消隙设计，保证传动的精确性。其在结构上的简便、经济性也为其在以后的推广和应用中提供了便利条件。 关键词：机器人，总体设计，腰部结构设计，消隙设计 The waist structural design of articulated robot Abstract In order to increase robots transmission precision, meets the practical work needs, this topic carried on to his/her the waist transmission has disappeared the crack design. According to robots work requirement and the unique feature, have carried on robots system design, had determined robots external dimensions and the working space, have drawn up the robot various joints overall transmission plan, has carried on the detailed design to the robot waist joint structure, has arranged the electrical machinery and the gear reasonably, had determined all levels of transmission parameter, distinguished the counter gear and the axis has carried on the detailed design calculation and has carried on the examination. Finally used the biplate thin gear wrong tooth to adjust the crack law to carry on to his/her the waist transmission has disappeared the crack design, the guarantee transmission accuracy. It in the structure simple, the efficiency also has provided the convenient condition for it in the later promotion and the application. Key word: robot, system design, waist structural design, disappears the crack to design 目录 1 绪论 1 2机器人总体结构设计 1 2.1 确定基本技术参数 1 2.1.1 机械结构类型的选择 1 2.1.2 额定负载 2 2.1.3 工作范围 2 2.1.4 操作机的驱动系统设计 3 2.2机器人本体结构设计 4 3 机器人腰部结构设计 6 3.1 电机的选择 7 3.2计算传动装置的总传动比和分配各级传动比 8 3.3轴的设计计算 8 3.3.1 计算各轴转速、转矩和输入功率 9 3.3.2 确定三根轴的具体尺寸 9 3.4确定齿轮的参数 14 3.4.1 选择材料 14 3.4.2 压力角的选择 14 3.4.3 齿数和模数的选择 14 3.4.4 齿宽系数 14 3.4.5 确定齿轮传动的精度 15 3.4.6 齿轮的校核 16 4 拉簧消隙设计 19 4.1 消隙拉簧设计原则 20 4.2设计步骤 20 5 结论 23 致谢 24 参考文献 25  1 绪论 机器人是现代一种典型