四自由度码垛机器人机械结构毕业设计.doc

四自由度码垛机器人机械结构设计  摘 要 码垛机器人作为现 代码垛系统中最重 要的设备,它的 操作范围、码垛速 度、 稳定性等工作能力决定了整个码垛系统设计的成败。 机器人学是近 40 年来迅速发展起来的综合性学科，它综合了机械学、电子 学、计算机科学、自动控制工程、人工智能、仿生学等多个学科的最新研究成果， 代表了机电一体化的最高成就，是当今世界科学技术发展最活跃的领域之一。 本课题设计的是四自由度圆柱坐标机器人，主要研究的是这种机器人的总体 设计，包括机身的升降与旋转，手臂的伸缩和手腕的旋转。设计中涉及到了这种 机器人的机械结构设计计算、驱动系统、控制系统及其电路、计算机硬件等内容。 其主要功能是搬运轻型的家用电器，将物体由高处拿下或将其放入高处等。它的 主要特点是重量轻、行动灵活，经过增加自由度后会成为一种非常实用的家用型 机器人。本论文中对机器人的机械机构进行了详细计算，确定出了所用相应的零 件，并将它的原理图转换成了机械装配图。本文也对计算机的硬件部分进行了论 述， 讲述了机器人的控制方法等。  关键词：机器人 自由度 圆柱坐标 人工智能 四自由度码垛机器人机械结构设计  Abstract Palletizing robot palletizing system of modern equipment in the most important, the scope of its operations, palletizing speed, stability, ability to work, such as stack determines the success or failure of system design. Robot subject is a synthesized course quickly developed in the last 40 yearses. It synthesizes the newest study result of machanics,electronics, calculator science, automatic control eng ineering, artificial intelligence, bionics etc..It delegates the tallest achievement of mechanical-electrical integration.It is one of the most activity fields of science technique development in the nowadays world. This design’s task is four degree of freedom’s robot that is cylindrical coordinates. The main task is to study the total design of this kind of robot, including the fuselage of robots rise and fall or revolve, and the arms stretch and shrink or the revolving of wrist.In the design,it relates to the machine construction’s design calculation of this kind of robot, the drive system, control system and its electric circuit,and calculator hardware etc.. Its main function is transports the light home appliances.It takes down the object from the high place or put into the high place from the ground. This kind of robot’s main characteristics is very light and agility. It can become a kind of