五自由度机械手臂设计说明书.doc

五自由度机械手臂设计 学 院 机电工程学院 专 业 班 级 学 号 姓 名 指导教师 负责教师 摘 要 Abstract About 20 in the last years , the robot technique develops very quickly and the robot of various use extensively acquires an application in each realm .Our countrys research and applied aspect and industrialization nation in the robot compare to still have a certain margin, so research and design the robot especially industrial robot of various use and expand the application of robot to have realistic meaning. The industrial robot of typical model for example weld robot, spray paint robot and assemble robots etc. mostly is fixed in the production line or process an equipments a flank homework, in making reference to the foundation of a great deal of cultural heritage data, the this thesis author combines the request of item, designed a machine hand claw, can used for search, grabbing at underwater tube piece, cable...etc. thin long object, can also used for the object which grabs at other shapes, have certain in general use .The robot can automatically control, multi-function, there is a few freedom degree, can fix or exercise, used for a related automation in .In view of the fact according to topic mission develop the most practical the most economic machine arm of , so in the machine arm of the independence turn to turn aspect to have a lack with intelligence. A kind of small scaled, use with the machine arm of five freedom degrees of underwater operation .The Solidworks in the meantime as to its carry on 3D set up a mold. Key words: robot；machine arm；Solidworks；3D modeling 前言 1 1 机器人的综合概述 2 1.1 机器人的分类 2 1.2 机器人系统的结构 3 1.3 机器人的执行装置 5 1.4 本课题的研究方向与内容 5 1.4.1 机械臂的作业能力 5 1.4.2 本设计的研究内容 6 1.5 本章小结 6 2 机械臂的设计 7 2.1 手爪的运动结构分析 8 2.2 自动对接腕的动作分析 8 2.3 大臂、小臂和腕的机构分析 10 2.4 驱动器的选用 14 2.5 本章小结 16 3 五自由度机械臂机构及运动学模型简介 17 3.1 五自由度机械臂机构简介 17 3.2 机器人运动学方程的表示 18 3.2.1 机械臂的运动分析 18 3.2.2 机械臂的综合运动轨迹研究 19 3.2.3 五自由度机械臂的运动学方程 21 3.3 机械手臂运动学方程的逆解 25 3.4 本章小结 29 4 机械臂的建模 30 4.1 虚拟设计的概念、意义及特点