六自由度机械手运动分析.docVIP

六自由度机械手毕业论文 专 业 机械设计制造及其自动化 课 题 多自由度机械手机械设计 摘 要 文中设计了一种六自由度机械手。该机械手主要由底座，腰部，主板，大手臂，小手臂，手腕，夹爪组成，采用步进电机驱动，单片机控制。手臂的尺寸与人手臂的大小相当。手臂的运动主要包括：腰部转动，大手臂摆动，小手臂摆动，手腕摆动，手腕转动，夹爪夹取。 此手臂的空间活动半径0.5m，Abstract A kind of manipulator of six degrees of freedom has been designed in this paper. This manipulator is made up of the foundation, the waist, the big arm, the small arm, the wrist, and the claw; the manipulator is driven by stepper motor, and controlled by single chip. The size of the manipulator is equal in the size to the arms of people. Locomotion of the