反恐机器人三自由度灵巧机械手爪设计.docVIP

河北工业大学城市学院 毕业设计说明书 作 者： 学 号： 系： 机械学院 专业： 机械设计制造及其自动化 题 目： 反恐机器人三自由度灵巧机械手爪设计 指导者： 教授 评阅者： 毕业设计（论文）中文摘要 反恐机器人三自由度灵巧手爪设计 摘要:本文设计了反恐机器人专用的三自由度灵巧机械手爪的机械结构。对于灵巧机械手的课题背景进行资料搜集，了解机械手的经典结构，了解国内外反恐机器人灵巧机械手的发展现状。 对于灵巧机械手的课题背景进行资料搜集，了解机械手的经典结构，了解国内外反恐机器人灵巧机械手的发展现状。 毕业设计（论文）外文摘要 Title Counterterrorism dexterous robot gripper design three degrees of freedom Abstract This paper designed the anti-terrorist special three degrees of freedom robot mechanical structure of the dexterous robot hand claw. Background for the dexterous robot hand topic for information gathering, understand the classical structure of the manipulator, understand the current development of counter-terrorism dexterous robot manipulator at home and abroad. 1. The data collected for the dexterous robot hand topic background, understand the classical structure of the manipulator, understand the current development of counter-terrorism dexterous robot manipulator at home and abroad. 2. According to product design requirements, to meet under the condition of no more than 2 kg weight implement snatch 3 kg weight, the opening of the finger 50 mm. For mechanical structure design. 3. The classical structure manipulator, and then determine the design of the overall scheme of the dexterous robot hand. Structure of manipulator each main parameter calculation, determine the structure parameters of the structure and motion parameters. After the selected drive mode, the reasonable design transmission way, to check the main transmission parts. , in turn, optimization design, make its compact mechanical structure. Figure 4. Drawing, drawing parts, the general assembly drawing, 3 d assembly drawing, manipulator modeling to make use of Solidworks motion simulation. Keywords： Three deg