啤酒装箱机的说明书_学位论文.docVIP

湖北工业大学毕业设计（论文） PAGE  PAGE 45 摘要 随着工业自动化发展的需要，机械手在工业应用中越来越重要。文章主要叙述了机械手的设计计算过程 。 首先，本文介绍机械手的作用，机械手的组成和分类，说明了自由度和机械手整体坐标的形式。同时，本文给出了这台机械手的主要性能规格参量。 文章中介绍了搬运机械手的设计理论与方法。全面详尽的讨论了搬运机械手的手部、腕部、手臂以及机身等主要部件的结构设计。 关键词：机械手、运动仿真、液压传动、液压缸。 Abstract Along with industry automation development of demand, the machine hand is in the industry the application more and more importance.The article was main describe the design of the machine hand calculation process. First, the function of this text introduction machine hand, constitute of machine hand with classification, elucidation freedom the form of the degree and the machine hand whole coordinates.In the meantime, this text give the main function specification of this set machine hand be three quantities. In the article introduction porterage machine hand of design theories and method.Overall detailed of discussion porterage machine hand of the structure of the main partses such as hand, wrist department, arm and fuselage etc. design. Key words: manipulater; motion simulation; hydraulic transmission; hydraulic cylinder.  目录  TOC \o 1-3 \h \z \u  HYPERLINK \l _Toc263285505 1 绪 论  PAGEREF _Toc263285505 \h 1  HYPERLINK \l _Toc263285506 1.1 前言  PAGEREF _Toc263285506 \h 1  HYPERLINK \l _Toc263285507 1.2 工业机械手的简史  PAGEREF _Toc263285507 \h 2  HYPERLINK \l _Toc263285508 1.3 工业机械手在生产中的应用  PAGEREF _Toc263285508 \h 3  HYPERLINK \l _Toc263285509 1.3.1 建造旋转零件（转轴、盘类、环类）自动线  PAGEREF _Toc263285509 \h 3  HYPERLINK \l _Toc263285510 1.3.2 在实现单机自动化方面  PAGEREF _Toc263285510 \h 4  HYPERLINK \l _Toc263285511 1.3.3 铸、锻、焊热处理等热加工方面  PAGEREF _Toc263285511 \h 4  HYPERLINK \l _Toc263285512 1.4 机械手的组成  PAGEREF _Toc263285512 \h 4  HYPERLINK \l _Toc263285513 1.4.1 执行机构  PAGEREF _Toc263285513 \h 4  HYPERLINK \l _Toc263285514 1.4.2 驱动机构  PAGEREF _Toc263285514 \h 5  HYPERLINK \l _Toc263285515 1.4.3 控制系统分类  PAGEREF _Toc263285515 \h 5  HYPERLINK \l _Toc263285516 1.5 工业机械手的发展