关于搬运作用机械手的应用结构设计 毕业论文.doc

摘要 1998年ABB公司推出IRbl400系列小机器人，其循环时间只有0.4s，控制器包括软件、高压电、驱动器、用户接口等皆集成于一柜，只有洗衣机变换器那样大小。FANUC公司2000年9月宣称它的控制器为世界最小。工业机器人的应用从单机、单元向系统发展。多达百台以上的机器人群与微机及周边智能设备和操作人员形成一个大群体(多智能体)。跨国大集团的垄断和全球化的生产将世界众多厂家的产品联接在一起，实现了标准化、开放化、网络化的“虚拟制造”，为工业机器人系统化的发展推波助澜。机器人技术是涉及机械学、传感器技术、驱动技术、控制技术、通信技术和计算机技术的一门综合性高新技术，既是光机电软一体化的重要基础，又是光机电软一体化技术的典型代表。其产品主要有两大类，即以日本和瑞典为代表的一系列特定应用的机器人，如弧焊、点焊、喷漆装备、刷胶和建筑等，并形成了庞大的机器人产业。 另一类是以美国、英国为代表的智能机器人开发，由于人工智能和其它智能技术的发展远落后于人们对它的期望，目前绝大部分研究成果未能走出实验室。机器人系统集成技术也是由几个主要发达国家所垄断。近年来，机器人技术并未出现突破性进展，各国的机器人技术研究机构和制造厂商都继续在技术深化、引进新技术和扩大应用领域等方面进行探索。 关键词： 机械手； 液压缸； 液压传动； 活塞  Abstract 1998 ABB IRbl400 series small robot, the cycle time of only 0.4 s, controller including software, high voltage, drive, and user interface are integrated in a cabinet, only washing machine size converter. FANUC company in September 2000 claimed its controller is the smallest. The application of industrial robots from single machine, the unit to the system development. Up to more than one hundred sets of machines of microcomputer and people in and around intelligent equipment and operating personnel to form a large group (multi-agent). Multinational conglomerates of monopoly and the globalization of the world many manufacturers products join together, has realized the standardization, open, networked \virtual manufacturing, for the development of the industrial robot systematic. Robotics is related to mechanics, sensor technology, drive technology, control technology, communication technology and computer technology of a comprehensive new and high technology, is not only the important opto-mechatronics integration of soft foundation, a typical representative of the soft and optical integration technology. Its products mainly include two categories, namely, represented by Japan and Sweden, a series of specific application of the robot, such as arc welding, spot welding, spray painting equipment, cementing and construction, etc., and formed a huge industry robot. Another kind is the intelligent rob