搬运机械手设计及其运动仿真构建论文.docVIP

XXXXXXXXXXXX论文 题 目： 指导老师： 职称： 学生姓名： 学号： 专 业： 院 （系）： 完成时间： 摘 要 在目前的各行各业的生产中，机械手已经是一种很常用的机械设备，它的出现与应用对提高生产效率、节约成本、提高产品质量等诸多方面起到了非常重要的作用，可以说是工业生产的一种革命。由于机械手被用于许多不同的情况和场合，所以对机械手的设计和性能要求会有所区别。本文在综述了机械手的研究和发展现状的基础上，结合目前机械手最常见的领域，将研究的对象确定为物料搬运机械手的研究，并在分析了物料搬运机械手的性能要求和工作特点的基础上，对物料搬运机械手的机械结构、驱动系统及控制系统进行了整体方案分析和设计。确定了搬运机械手采用圆柱坐标系的机械结构形式，采用气压传动方式的驱动方案，并采用PLC进行系统控制。通过以上各部分的工作，得出了经济型、模块化、高可靠性物料搬运机械手的设计方案，对其他类型经济型机械手的设计也有一定的借鉴价值。通过本文对物料搬运机械手的研究，希望能够指导实践，为我国机械手研究领域的发展做出一点贡献。 关键词：机械手；经济型；PLC；结构设计 Abstract In the present people from all walks of life in production, robots have is one of the most commonly used machine equipment, its occurrence and application to improve production efficiency and reduce cost, improve product quality, and many other aspects has played a very important role, may say is a revolution of industrial production. Because be used to many different manipulators and occasions, so for the design of manipulator and performance requirements will be different. This paper reviewed the manipulator in research and development of the present situation of the basis, combining manipulator of the most common field, will be determined as the object of study for material handling the manipulator, and on the analysis of the material handling performance requirements of the manipulator and the work characteristics of the foundation, on the material handling mechanical structure of the manipulator, driving system and control system for the whole scheme analysis and design. Sure the cylindrical coordinate system carrying manipulator used mechanical structure of the form, the way of pneumatic transmission driving scheme and adopting PLC control system. Through the above the part of the work, it is concluded that the economical, modular, high reliability material handling of the manipulator, a design scheme for other types of the manipul