[多孔板抓取机械手结构设计.docVIP

多孔板抓取机械手的机械结构设计 系 别：机电与自动化学院 专 业 班：机械电子工程1104班 姓 名：罗 雄 学 号：20111100139 指导 教师：王 姣 2015年5月 多孔板抓取机械手的机械结构设计 Porous plate fetching manipulator structure design  摘要 本文以实际项目“细菌鉴定与培养”为背景，设计多孔板抓取机械手，是机械手具有抓取、移动多孔板的功能，能够在细菌实验中完成任务要求，实现实验过程的自动化，从而改善工作人员的工作环境和减轻工作强度，提高了实验结果的效率和精度。 本文分析了多孔板抓取机械手的工作任务以及运动方式，设计出了多孔板抓取机械手的机械结构，完成了机械手的驱动系统和传动系统的选型，根据机械手最大转矩选出了驱动电机类型以及联轴器的类型，根据机械手的运动方式，选出传动系统中的滚珠丝杠的类型。然后，根据细菌培养多孔板的结构形式，设计了合适的机械手末端执行器。完成了机械手的总装配图绘制，使用ug对机械手进行了三维建模，并导出工程图。 本论文完成了细菌实验过程中多孔板抓取机械手的初步研究，为整个实验奠定了重要基础，具有一定的应用价值。 关键词：机械手 ，细菌实验 ， 结构设计  Abstract The to the actual project identification of bacteria and culture as the background, design of porous plate manipulator is mechanical hand is grasping, moving porous p- -late, can in the experimental bacteria complete mission requirements, realize autom- -ation of the experiment process, so as to improve the staff working environment and reduce the work intensity, improve the efficiency and accuracy of the experimental results. This paper analyzes the porous plate manipulator and motion design the mechanical structure of the porous plate manipulator, completed the manipulator drive system and drive system of selection, according to the manipulator maximum torque elected drive motor type and type of shaft coupling device, according to the movement of the mani- -pulator, elected the type of ball screw drive system. Then, according to the structure of the porous plate, a suitable manipulator is designed.. The total assembly drawing of the manipulator was completed, and the 3D model of the manipulator was modeled by ug, and the engineering chart was deduced.. In this thesis, the preliminary study of the porous plate grasping manipulator is accomplished, which lays the important foundation for the whole experiment, and has some application value. Key word：manipulator ，bacteria ，the structure desig