多关节机械臂机构设计技术研究.docVIP

多关节机械臂机构设计技术研究 摘要：自从机器人在二十世纪五十年代诞生以来，它经历了第一代工业机器人的研究、实用化、普及，第二代感知功能机器人的研究、实用化，以及第三代智能机器人的研究等各个阶段。在六自由度机器人群体中，关节型机器人以工作范围大、动作灵活、结构紧凑、能抓取靠近机座的物体等特点备受设计者和使用者的青睐。? 本次设计针对多关节机械手结构进行设计。各个关节处采用独立的电机驱动。设计完成的机械手包括腰回转、大小臂转动、手臂回转和手腕回转5个关节。它们具备以下功能：（1）实现末端的空间位置确定；（2）实现末端的方位变化。本文对多关节机械手的多种结构方案进行比较，确定了最佳的结构方案；对各关节的传动和电机的选择进行了设计计算，并对部分零件进行建模和运动仿真。 ? 关键词：多关节，机械臂，五自由度，运动仿真 Mechanism design and Technology research of the Multi-joint Manipulator Abstract:Since?the?robot?birthed?in?the?1950s,?it?has?experienced?three?stages?as?following:?the?first?generation?industry?robot’s?research,?practical?application?and?popularization,?the?second?generation?sensational?function?robot’s?research?and?practical?application,?as?well?as?the?third?generation?intelligence?robot’s?research.?In?the?group?of?six?degrees?of?freedom?robots,?the?articulated?robot?is?cared?by?designer?and?user?for?its?broad?work?range,?flexible?movement,compact?structure,?catching?the?object?near?the?machine?plinth.? the?structure?of?the?articulated?manipulator?was?designed,which?has?six?degrees?of?freedom.?Each?joint?is?drived?by?the?independent?electric?motor.?The?manipulator?designed??includs??waist?rotary?joint,?big?arm?rotary?joint,?small?arm?rotary?joint,?the?arm?rotation,?skill?swinging?and?the?skill?rotary?joint.?They?have?function?as?following:?(1)?realize?terminal?space?position?determination;?(2)?realize?terminal?change?of?location.The?best?plan?is?selected?through?compareing?with?many?kinds?of?structure?plan?of?the?articulated?manipulator?in?this?article,The?design?and?calculation?is?did?in?the?selectiong?of?various?joints?transmission?and?the?electrical?motor,?and?the?gear?is?checked,modeling and motion simulation of parts. Key?words:??articulated?manipulator?,Structural?design,Industrial?manipulator? 目 录 1 绪论 1 1.1 机械臂的研究意义 1 1.2 国内外现状 2 1.3 Matlab软件的介绍 5 1.3.1 Matlab的发展史 5 1.3.2 Matlab的特点 5 1.4 本文主要研究内容 6 2 各种机构比较以及选型 8 2.1 四大类传动优缺点比较 8 2.2 机械传动方式 8 2.2.1 齿轮传动 8 2.2.2 蜗轮蜗杆传动 8 2.2.3 带传动 9 2.2.4 链传动 10 2.2.5 轮