SCARA型装配机器人系统设计【毕业论文+CAD图纸全套】.doc

摘 要 SCARA 机器人是一种由四个自由度组成的平面关节型机器人，它的主要作用是可以完成精密仪器和物体的搬运和移动。由于体积小，传动原理简单，被广泛运用于电子电气业，家用电器业，精密机械业等领域。整个系统由机器手，机器臂，关节，伺服电机驱动系统等组成。通过各自由度伺服电机的驱动，完成机器手，机器臂的位置变化。具体设计内容为：同步齿形带传动设计，丝杠螺母设计，各输出轴和壳体的设计,伺服电机的选择等。在校核满足其结构强度的基础上，我们对SCARA 机器人的结构进行优化设计。 本论文着重研究SCARA 机器人的结构设计系统设计。在论文开始首先介绍了机器人的发展及其分类情况。具体叙述了SCARA 机器人的结构设计详细过程。在论文末尾还对SCARA 机器人进一步改进措施和应用展望进行了阐述。 关键词：SCARA 机器人，伺服电机，结构设计，机器臂  ABSTRACT A SCARA robot is a robot of plane and joint composed of three degrees of freedom. Its mostly function is used to complete transition and motion of exact apparatuses and objects. Because of its small volume and simple drive principle, it is widely used in the field of electronic and electric industry, home-used electric-ware industry and exact mechanism. The whole system is composed of manipulator hand, manipulator arm, joints and servo motor driving system. By servo motor’s driving of each degree of freedom, it completes location change of manipulator hand and manipulator arm. The idiographic designing content is designing of in-phase tooth-shape strap, designing of silk-bar nut, designing of shell and axis and the choice of servo motors. On the base of checking its structure intensity, while it satisfied, we optimize designing of the structure of SCARA robots. This paper put its emphases on research of its structure designing and kinematics analysis. At the beginning of this paper, it introduces the development and sort of robots. It introduces detailed detail among the processing of the structure designing of a SCARA robot and its kinematics analysis. At the last, this paper gives some measures about improving of SCARA robots, and gives a expectation about its future. Key Words: SCARA Robots，Servo Motor，Structure Design， Manipulator Arm 目 录 1、 绪论 4 1.1. 机器人的特点 4 1.2. 机器人的构成及分类 5 1.3. 机器人的应用与发展 8 1.4. SCARA机器人的研究意义 10 1.5. 主要研究内容 12 2、 SCARA机器人传动方案 13 2.1. SCARA机器人传动方案的比较及确定 13 2.1.1. 可行方案分析 13 2.1.2. 方案对比和分析 14 2.1.3. 最终驱动方案 15 2.2. 伺服电机的优点和选型 16 2.2.1. 伺服电机的优点 16 2.2.2. 伺服电