五自由度机械手结设计-.doc

本科生毕业设计 题 目：五自由度机械手结构设计 院 （系）： 机械工程学院 班 级： 机电08-3 姓 名： 田国玉 学 号： 5 指导教师： 陈焕林 教师职称： 讲师  摘 要 本设计的多功能机械手主要由手爪、手腕、手臂、、机座等组成。本机械手机身采用机座式，自动线围绕机座布置具有旋转、工业机械手可以代替人手的繁重劳动，显著减轻工人的劳动强度，提高劳动生产率和自动化水平。工业生产中经常出现的笨重工件的搬运和长期频繁，单调的操作如果没有机械手那么工人的劳动强度是很高的，有时候还要用行车员工件，生产速度大大延缓，这种情况采用机械手是很有效的。此外，它能在高温、低温、深水、宇宙、反射性和其他有毒、有污染环境条件上进行操作。更显其优越性，有着广阔的发展前途。Abstract The design of multifunctional mechanical hand for universal mechanical hand, mainly by the gripper, wrist, arm, fuselage, and base composition, with feeding, reversal and transposition of a variety of functions, and according to the automatic line with the unified production cycle time and production program completed more action. The mobile phone body adopts the base type, automatic line around the base layout. With the rotation of the waist, arm pitching, pitching arm, wrist rotation and flexion-extension and 5 degrees of freedom. Industrial robots can replace the hands of heavy labor, significantly reduce labor intensity, and improve labor productivity and automation level. Industrial production often appears in the heavy work frequently, handling and long-term operation, if not drab robots that labor intensity is high, sometimes even with employees, driving speed greatly retard, this kind of circumstance using manipulator is very effective. In addition, it can be in high temperature, low temperature, water, the universe, reflective and other toxic, environmental pollution condition on the operation. More show its superiority, has broad prospects. Keywords: mechanical hand； Five degrees of freedom ；Joint type 目 录 摘 要 I Abstract II 目 录 III CONTENTS V 第1章 绪论 - 1 - 1.1 概述 - 3 - 1.2 国内外发展及研究现状 - 5 - 1.2.1 国内外机械手技术的发展 - 5 - 1.2.2 国内外机械手的应用状况 - 7 - 1.3 本文主要内容 - 8 - 第2章 关节型机械手总体设计 - 9 - 2.1 基