机器人腕部毕业设计机械毕业设计.docVIP

机器人的腕部设计 Robot wrist design 学 生： 学 号专 业：导 师： 本文的主要任务和要解决的问题，是设计一台六自由度的机器人，在已有的技术资料的基础上，通过分析，确定腕部的传动系统，然后假设腕部末端的结构，确定腕部的输出功率，然后计算出腕部所需的电机。在确定电机和传动机构的基础上，对锥齿轮和传动中所需的带轮以及同步齿形带进行设计，并且对它们进行校核，确定所设计的腕部结构能够配合机器人的其他结构进行喷漆动作。并用CAD软件完成从建模到运动学分析、应力分析的全过程。需要全面理解机械原理、机械设计、机械系统设计以及CAD制图标准等相关的知识，并考虑其可靠性、实用性、经济性等性能。 本课设在已有理论基础上，针对以往研究的不足，根据实际使用要求，确定采用六自由度的关节型机器人结构方案;由于机器人结构复杂，构件繁多，需要用高端软件配合进行建模，装配的工作，而我们现有的材料相当有限，所以本课设只是设计了机器人的腕部结构;并采用CAD绘制了其装备和零件图，并对其中某些零件的强度进行了校核，使腕部的整体结构能够满足工作的要求。 关键词:机器人 腕部 Robot wrist design Abstract Robotic technology is comprehensive knowledge of the many subjects, such as computer, cybernetics, organization learning, information and sensing technology, artificial intelligence, bionics science and the formation of high technology and new technology, it is current research field attach to the subject in many fields, robot used widely. The use of robots situation, is a national industrial automation level, and is an important symbol of various advanced industrial countries and manpower, invest a lot of attention to research and application. This paper main tasks and to solve the problem, it is design a six degrees of freedom in the robot, the existing technology material basis, through the analysis to determine the transmission system, wrist, then assume the end of the structure, determine the wrist the output power of the wrist, and then calculate the wrist motor required. In determining the motor and transmission mechanism on the basis of bevel gear and transmission, the pulleys and needed synchronous cog belt on the design and test of them, to ensure that the design of the robot wrist structure can match with painted other structures movements. Using CAD software from modeling to finish, stress analysis of kinematics analysis process. Need to fully understand mechanical principle, mechanical design, mechanical system design and CAD drawing standards and other related knowledge, and consider its reliability and practicability and ec