机械手肩关节的设计.docVIP

摘要此次设计是，设计一个关节机械手（包括个移动关节，2个转动关节和末端执行机构），配合壳体驱动系统来任务。通过电机带动丝杠动，从而旋转关节1通过链传动来完成平面内的旋转动作，旋转关节2直接在伺服电机的驱动下完成平面内的旋转动作 首先对机械进行了运动学分析（包括运动学方程的建立，运动学方程的正问题、逆问题及其解）。传动部分进给系统设计（包括工作台的设计，丝杠的设计，直线导轨、电机和减速器的选取等）与校核 关键词：运动学分析电机  Abstract In todays large-scale manufacturing enterprises to improve productivity , ensure product quality , universal attention degree of automation of the production process , industrial robots , as an important member of the automated production line , gradually being recognized and adopted enterprise . This is true in all areas of robot applications increasingly widespread , many occasions asked the robot has the ability to force control . The design can be a hemispherical design hand axis shoulder design, the design of a multi -joint robot ( including the movement of the joint 2 , two rotating joints and the end actuator) , with the housing to achieve this task the drive system . In robotic operation, the screw is rotated by a stepper motor driven rotary joint so by a chain drive to complete a rotation operation plane , rotating joints 2 to complete the action within the plane of rotation is directly driven by the servo motor The first robot designed to work shoulder kinematics analysis ( including the establishment of kinematic equations kinematics equations are problems , inverse problems and their solutions ) . Design elements include structural design robotic rotary shoulder joint , transmission part of design. Among them, the focus is on stepping feed system design ( including design , screw design, linear guide , stepper motor and gear selection table , etc. ) . Finally, the stiffness, strength and other performance parameters of the system s major components were calculated and checked. Keywords: Robot shoulder Freedom Multi-joint Stepper motor Stiffness calculation  目 录 摘要 Ⅰ Abstract ..................................................................Ⅱ 目录 Ⅲ 前言 1 1 机械手肩关节结构的总体方案设计 4 1.1 课题的主要内容 4 1.2 课题的研究方案 4 1.3 机械手肩关节结构的总体设计 4 1.3