[通用液压机械手设计.docVIP

（2011届） 本科毕业设计（论文）资料 题 目 名 称： 通用液压机械手 学 院（部）： 机械工程学院 专 业： 机械设计制造及其自动化 学 生 姓 名： 郝晓莲 班 级： 机设074班学号 07405100334 指导教师姓名： 唐川林 职称 教授 职称 最终评定成绩： 湖南工业大学教务处 2011届 本科毕业设计（论文）资料 第一部分 毕业论文 Abstract Manipulator is a sort of automation device which has the function of grasp and transfer workpieces during the automated production.Today hydraulic mqanipulator is widely uade in industry fidld.It can maek the produce process automated and liberate the people from heavy physical labor.It can promote the quality of production and decrease the cost of production.In this design,we should use the knowledge of hydraulic,mechanism and electric control comprehensively to complete the design of hydraulic manipulator,including machine system,hydraulic and comtrol system.The mechanical part is designed on the basis of mechanics computation foundation after the structure analysis,including hand,arm and fuselage.Generally the manipulator’s hand should have four merits:compact structure,light weight,good universal property and high catch precision.Well,the arm should have merits that are good rigidity,light weight,high movement velocity,small inertia and flexible motion.The hydraulic system design including the hydraulic system computation and the selection of hydraulic components;The control system design including plotting the ladder diagram and selecting the control component. Key wordsHydraulic manipulator;hydraulic system ;design;plc  目 录 前言 ………………………………………………………………6 （一）工业机器人简介………………………………………………6 （二）世界机器人的发展……………………………………………6 （三）我国工业机器人的发展………………………………………7 （四）本设计中的机械手……………………………………………7 1 臂力的确定……………………………………………………7 2 工作范围的确定………………………………………………7 3 运动速度的确定………………………………………………8 4 手臂的配置形式