四自由度通用液压机械手设计摘要.docVIP

摘 要 本次设计的多功能机械手主要由手爪、手腕、手臂、机身、机座等组成，具备上料、翻转和转位等多种功能，并按自动线的统一生产节拍和生产纲领完成以上动作。本机械手机身采用机座式，自动线围绕机座布置，其坐标形式为坐标式，具有立柱旋转、手臂伸缩、腕部转动和腕部摆动个自由度；驱动方式为液压驱动： 机械手坐标液压Abstract The design of multi-manipulator hydraulic manipulator general, mainly by the gripper, wrist, arm, body, base etc., with the material, flip, and a variety of functions such as translocation, in accordance with the unified automated production line beat and production program have done so. This machine adopts the base-type mobile phone, automatic wire around the base layout, its coordinates in the form of cylindrical coordinate type, w