工业机器人的设计.docVIP

摘 要 在生产过程工业机械手是模拟人手动作的机械设备， Abstract Industrial manipulator is the mechanical equipment which is used in the production process and simulate to the behave of hands with electrical integration. It can carry heavy objects and work in the harsh environment which is high temperature, poisonous ,full of dust, flammable and combustible monotonous and full of radioactive substance instead of people. Manipulator is a automatic device which is used in the automatic production process and it can carry and move things. It is a new device which is developed in the mechanization and automatic production process. In recent years , with the widely used of electronic technique especially the electronic computer. The research and production of robot has became a new technology which is developing rapidly in the high-tech industry . It promotes the development of manipulator. It makes the combination of the manipulator with mechanization and automation become easier . Manipulator can complete the dangerous and boring work instead of people. It can reduce labour intensity of people and raise the labour productivity . This design is a cylindrical manipulator which is related to delta degrees of freedom. It designs and draws the picture with Auto cad software ,it includes holder, a small arm, the big arm and the base. The clear and reasonable thinking determines the working principle of the manipulator . This also checks and calculates the holder, cylinder, stepper motor and bearing. Apart from this , it contains some pictures and design and measure the quality , barycentre principal axis of inertia and force of parts. It can greatly reduce the complicated calculation and check in the design process. Keywords: robot, cylinder, checking 目录 摘 要 III Abstract IV 目录 V 1 绪论 1 1.1 本课题研究的内容和意义 1 1.2 国内外发展概况 1 1.3 工业机械手设计内容 2 1.4 机械手设计的作用 2 1.5 工业机械手的分类和组成 2 2 手部的设计 5 2.1 机械手设计参数和运动方案 5 2.1.1 运动方案 5 2.1.2 驱动系统和位置检测装置的选择： 5 2.2 手部设计的结构和计算 6 2.2.1 机械手的基本要求 6 2.3 手部力的计算 7 2.3.1 夹紧力的计算 7 2.3.