机电式多关节机械手设计.docVIP

摘要此次设计是针对回转壳体内自动粘贴胶片的任务，设计一个3—DOF平面关节机械手（包括1个移动关节，2个转动关节和末端执行机构），配合壳体驱动系统来任务。通过伺服电机带动丝杠动，从而来完成机械手水平方向的移动，旋转关节1通过链传动来完成平面内的旋转动作，旋转关节2直接在伺服电机的驱动下完成平面内的旋转动作粘贴胶片的。 首先对机械手进行了运动学分析（包括运动学方程的建立，运动学方程的正问题、逆问题及其解）。传动部分伺服进给系统设计（包括工作台的设计，丝杠的设计，直线导轨、伺服电机和减速器的选取等）与校核 关键词：运动学分析伺服电机直角减速器 Abstract With the increasing application of robot in various industrial fields, it is requested that robot has the ability to control power. According to the contact task of rotary hull, a 3-DOF robot manipulator is designed in order to accomplish sticking of the colloid. The robot manipulator consists of a transfer joint and two revolute joints and robot end-effector. The robot manipulator could realize the contacting task combining with the driving system of rotary hull. The concrete processing comprising of driving screw transmission with the servo motor. In this way, robot manipulator could complete movement in horizontal direction, the revolute joint could be able to accomplish revolute motion of two dimension-space through a chain driving, the revolute joint of end-effector completes directly revolute motion with the servo motor. Firstly, this design has been carried on the kinematics’ analysis in order to the manipulator, which consists of including the establishment of kinematics equation, the positive solutions of the kinematics equation, the corresponding inverse solutions. Secondly, the transfer joint, revolute joint and the transmission part are designed. The important part is the design of servo feeding system, which consists of the design of the platform and the screw, the selection of linear guide way, servo motor and reducer, etc. Finally, the corresponding calculations are done considering the systems main guide line such as components stiffness, strength and other performance parameters. Keywords: Robot manipulator Freedom Multi-joint Servo motor Right-angle reducer  目 录 摘要 Ⅰ Abstract ..................................................................Ⅱ 目录 Ⅲ 引言 1 1 机械手结构的总体