工业机器人球坐标型机械臂结构设计_论文正文.docVIP

    工业机器人球坐标机械臂结构设计 摘 要 在装配机器人中，装配机器人型是应用广泛的一种装配机器人。本文设计的机器人既可以用于实际生产，又可以用于教学实验和科学研究。用于实际生产，它能够满足装配作业内容改变频繁的要求，用于教学实验，它能够使人更直观地了解机器人机构组成、动作原理等，所以开发机器人具有广泛的实际和应用前景，本课题的研究工作正是在这样的背景下提出来的。 本文设计的机器人具有下列特点:通用性好、重复定位精度高、体积小、重量轻、外形美观、适于观察、成本低，对其本体的可行方案进行了充分的论证后，设计成具有自由度的结构，由机身、大臂小臂组成，减速器、同步齿型带、丝杠螺母等组成了机器人简单可靠的传动方案，该机器人的个关节均选用电机驱动。 工业机器人机械臂 结构设计 Industrial obot Spherical Coordinates Robotic Arm Structure Design ABSTRCT In assembly robots, ball coordinates type assembly robot (namely polar type) is a kind of very extensive assembly robot. The paper presents the desion of industrial robot can be used either for practical production,and can be used in experiment teaching and scientific research.Applied to practical production.It can satisfy the assembly work content change frequent requirements,used in teaching experiments.It can make a person more intuitively understand robot mechanism composition,action principle,etc.Therefore, the development goals coordinates type of robot has extensive practical and application prospects of this topic research work,and it is in this context brought out. The paper presents the design of industrial robot ball coordinates type has the following characteristics: the mechanical arm high universality,repositioning high precision,small volume,light weight,good appearance,suitable for observation,low cost and feasible scheme for its ontology adequate argument,designed to have three degrees of freedom,the fuselage,big structure composed,planets and forearm arm,and synchronizing gear reducer cog-type belt,screw nuts etc the industrial robot mechanical arm ball coordinates type a simple and reliable transmission scheme,the robot are chosen for the three joint dc servo motor driver. KEY WORDS Industrial robot/polar type mechanical arm/ball coordinates type mechanical arm/structure design 1 绪论 1.1 课题背景 机器人自诞生之日起 ，便显示出其强大的生命力，机器人首先在工业生产中得到了广泛应用，并给传统工业带来了质的飞跃。它不仅提高了传统产业的自动化程度，提高了劳动生产率而且还推动了以资源消耗低环境污染少为特征的