四自由度机械手资料.docVIP

摘 要150cm，宽150cm，高150cm的立方体 Abstract In China industrial ligament development, a lot of high productivity high precision machining equipments imported from abroad, such as CNC lathes and milling machines, and have several function of machine together in processing center, etc.. In this kind of CNC machine greatly improves the speed of work, product processing precision, reduces the labor intensity of work, so popular. But this kind of equipment is also very expensive, so many domestic enterprises technical personnel in the original old machine is improved, to improve productivity and reduce labor intensity of workers, industrial automation, this kind of improvement is also very popular. 本文所设计的机械手主要用于搬运工件，工件总重不大于10Kg，长150cm，宽150cm，高150cm的立方体。为了增加本机械手的通用性，在结构尽可能紧凑的情况下，最大限度的是机械手具有较大的抓取范围。 The manipulator is designed in this paper is mainly used for handling the workpiece, the workpiece weight is less than 10Kg, length 150cm, width 150cm, high 150cm cube. In order to increase the versatility of manipulator in structure, as far as possible compact case, maximum limit is the manipulator has a large capture range. 本文主要介绍了搬运机械手的概念、组成和分类，接受的自由度和坐标形式、运动及国内外的发展状况。对于搬运接受进行总体方案设计，首先机械手的驱动装置为液压缸，然后确定了机械手的坐标像是为圆柱坐标型，自由度数为4，接着确定了机械手的驱动装置为液压缸，然后确定了机械手的主要技术参数。同时，设计了机械手的手部结构形式为气缸杠杆式手爪、臂部结构形式采用液压缸导向连接的双横臂结构，底座采用电机带动竖臂的旋转。机身结构形式为升降缸用液压缸的结构形式，计算出夹紧工件所需的驱动力、手爪转动时所需的驱动力矩、手臂的伸缩所需的驱动力手臂的俯仰所需的驱动力、手臂的升降所需的驱动力，和手臂回转所需的驱动力矩。继而设计了装箱机械手的各部分液压缸的尺寸和结构及各部分之间连接与支承部件的结构与尺寸。 This paper mainly introduces the concept, composition and classification of the manipulator, freedom and coordinates, movement and development at home and abroad to accept. For the handling of acceptance for the overall program design, first drive manipulator for hydraulic cylinder, and then determine the coordinate manipulator like cylindrical coordinate, the number of degrees of freedom is 4, then the drive manipulator for hydraulic cylinder, and then determined the main technical parameters of the manipulator. At the same time,