气动通用机械手设计-手臂伸缩和回转部分(CAD+论文).doc

 PAGE \* MERGEFORMAT III 摘 要 本文简要介绍了工业机械手的概念，机械手的组成和分类，机械手的自由度和坐标形式，气动技术的特点，继电器控制的特点及国内外的发展状况。 介绍了机械手的总体设计，确定了机械手的坐标形式和自由度，确定了机械手的技术参数。同时，机械手的夹持式手部结构设计，设计了机械手的手腕结构，转矩和转筒转动手腕计算要求。手臂的结构设计。 关键词：机械手，气动，继电器  PAGE \* MERGEFORMAT II Abstract This paper briefly introduces the concept of industrial manipulator， composition and classification of the manipulator， manipulator degrees of freedom and coordinate form， the characteristics of pneumatic technology， characteristics and development at home and abroad relay control. This paper made the overall design of manipulator， determine the coordinates of the manipulator forms and degrees of freedom， determine the technical parameters of the manipulator. At the same time， the design of clamping manipulator type hand structure， design of manipulator wrist structure， the torque and the rotary cylinder required wrist rotation calculation. The design of the structure of the arm. Key Words：Manipulator，pneumatic，relay  PAGE \* MERGEFORMAT 10 目 录  TOC \o "1-3" \h \z \u  HYPERLINK \l "_Toc405828946" 摘 要  PAGEREF _Toc405828946 \h I  HYPERLINK \l "_Toc405828947" Abstract  PAGEREF _Toc405828947 \h II  HYPERLINK \l "_Toc405828948" 目 录  PAGEREF _Toc405828948 \h III  HYPERLINK \l "_Toc405828949" 第1章 绪论  PAGEREF _Toc405828949 \h 1  HYPERLINK \l "_Toc405828950" 1.1机械手概述  PAGEREF _Toc405828950 \h 1  HYPERLINK \l "_Toc405828951" 1.2 机械手的组成和分类  PAGEREF _Toc405828951 \h 1  HYPERLINK \l "_Toc405828952" 1.2.1机械手的组成  PAGEREF _Toc405828952 \h 1  HYPERLINK \l "_Toc405828953" 1.2.2 机械手的分类  PAGEREF _Toc405828953 \h 4  HYPERLINK \l "_Toc405828954" 1.3 国内外发展概况  PAGEREF _Toc405828954 \h 6  HYPERLINK \l "_Toc405828955" 1.4 课题的提出及主要任务  PAGEREF _Toc405828955 \h 7  HYPERLINK \l "_Toc405828956" 1.4.1 课题的提出  PAGEREF _Toc405828956 \h 7  HYPERLINK \l "_Toc405828957" 1.4.2 课题的主要任务  PAGEREF _Toc405828957 \h 8  HYPERLINK \l "_Toc405828958" 第2章 机械手设计方案  PAGEREF _Toc40582895