并联六自由度微动机器人机构设计大学学位论文.docVIP

摘要Abstract In order to improve the production efficiency and welding quality, to meet the specific requirements of the work, the design of this thesis is used for the wrist of welding articulated robot and the end of the actuator. According to the requirements of the robots’ work, we make overall design of the robot. When determining the shape of the robot, drawing up the transmission path of the wrist, selecting of DC motor, arranging the motor, the shaft and the gear reasonable, and checking the strength. The transmission apply to flexible shafting, bellows coupling and planetary gear mecha