服务机器人手臂关节结构设计.doc

摘 要 机械手是一门涉及计算机科学、机械学、电子学、自动控制、人工智能等多个方面的学科，它代表了机电一体化的最高成就。现今，机械手已经运用到各个领域，特别是在装配作业方面。在装配机械手中，平面关节型装配机械手（即SCARA型）是应用最广泛的一种装配机械手。 本课题提出设计一种服务机械手，用于电子元器件等的装配，在分析国内外SCARA产品基础上，经过不同方案的比较，在确定了最优方案后通过认真的计算，仔细的校核，使设计结构简单、运行可靠、经济合理，能满足教学实验等需要，对于更好地熟悉和掌握相关课程具有重要的意义。 本文设计的是一种小型服务装配机械手，主要对这种机械手进行结构方面的设计。本文设计的SCARA机器人具有以下特点：通用性好、体积小、重量轻、外形美观、成本低，对其本体的可行方案进行了充分的研究后，设计成具有多个自由度的结构，由机身、大臂、小臂及手腕组成，谐波减速器、齿轮、丝杠螺母等组成了机械手简单可靠的传动方案。该电机的多个关节均采用步进电机驱动，具有控制简单、成本低的特点。 关键词：工业机械手 自由度 机器人 Abstract Robot is a kind of science related to many other ones such as computer science, mechanism, electronics, automation control and artificial intelligence. Now, robots are used in many fields, especially in the aspect of assembly task. It represents the up-most level of mechatronics. Among assembly, plane articulated assemblyrobot (SCARA manipulator) is used most widely. This topic puts forward designing a kind of assemble robot, used for an assemble electronics component, after analy domestic and international SCARA, the surface of sphere SCARA etc. Through compare with different project. After making sure superior project, though the careful calculation and check.Make design with simple structure,credibility circulate, reasonable cost, can satisfy the teaching experiment etc.. The presented SCARA manipulator in this paper is a pint-sized assembly robot, where the structure of SCARA manipulator is designed. The presented SCARA manipulator in this paper has following characters: good universality, small volume, light weight, beautiful appearance and low cost, so the structure of robot is fully considered which has four freedoms and is consisted of comprises base, big arm, small arm and wrist. The simple reliable transmission scheme of SCARA manipulator is composed of harmonic deceleration and gear wheel and feed screw. The four joints are all driven by stepping motors, which has the characters of simple control and low cost. Keyword: Industrial robots Freedom Robot 目录 摘 要 I Abstract II 第1章　绪论 1 第2章