机械手设计及运动仿真说明书概要.doc

搬运机械手结构设计及运动仿真 摘 要 机械手可谓是自动手，能够模仿手等的部分工作一些功能，根据处理对象固定的程序还是爬行，操作工具自动运行装置。机械手起到很多作用，简答来说可以能够取代人的复杂劳动，来实现生产活动的机械化及自动化，也可以在不良环境下运作，起到保护人身安全的作用，因为这方面的要求我们可以将机械手应用于机械制造中锻造方面、冶金方面、电子方面等部门，将机械手运用这些方面可以提高生产效率等。 本课题要求是通常圆柱坐标系设计的搬运机械手。论文中是对对机械手的功能、分类及进行了叙述，并通过该论文设计要求，对机械手的手、腕、臂以及机身的结构方面的设计及计算和液压传动原理方面设计，使其能实现自动上料、腕部旋转、手臂伸展、机身旋转及升降等动作，并 关键词　机械手；液压传动；机械手结构设计；运动仿真 Handling Robot Design and Motion Simulation Abstract Manipulator can be described as automatic hand, can mimic some of the features hands and other parts of the work, according to the processing target fixed procedure or crawling, operating tool automatically run devices. Robot plays many roles, it may be able to replace short-answer peoples complex labor to mechanization and automation of production activities, and can also operate in adverse environments, protect the personal safety role because this requirement, we can The robot used in machinery manufacturing in terms of forging, metallurgy, electronics and other departments, the robot can use these areas to improve production efficiency. The requirements of the subject is generally cylindrical coordinate system designed handling robot. Paper is a mechanical hand function, classification and has been described, and by the paper design requirements, design and calculation of structures of the robots hand, wrist, arm, and body and hydraulic drive principle aspects of the design, so that it can automatic feeding, wrist rotation, arm extension, rotation and lifting and other body movements, and the use of Pro / E for the handling of the robot motion simulation work processes. By motion simulation to design the robot has a more detailed understanding, better able to make the robot widely used in industry. Keywords　 manipulator; hydraulic transmission; hand structure design; motion simulation 目 录 摘要 I Abstract II 第1章 绪论 1 1.1 课题背景 1 1.2 研究意义 2 1.3 国内外研究现状分析 3 1.4 研究的主要内容及方法 3 1.5 工业机械手的分类，基本形式及组成 4 1.5.1 工业机械手的分类 4 1.5.2 工业机械手的基本形式 4 1.5.3 基本组成 6 1.6 本章小结 8 第2章 搬运机械手总体