机械手结构的总体方案设计（有全套图纸）（可编辑）精选.docVIP

机械手结构的总体方案设计（有全套图纸） With the increasing application of robot in various industrial fields, it is requested that robot has the ability to control power. According to the contact task of rotary hull, a 3-DOF robot manipulator is designed in order to accomplish sticking of the colloid. The robot manipulator consists of a transfer joint and two revolute joints and robot end-effector. The robot manipulator could realize the contacting task combining with the driving system of rotary hull. The concrete processing comprising of driving screw transmission with the servo motor. In this way, robot manipulator could complete movement in horizontal direction, the revolute joint could be able to accomplish revolute motion of two dimension-space through a chain driving, the revolute joint of end-effector completes directly revolute motion with the servo motor. Firstly, this design has been carried on the kinematics’ analysis in order to the manipulator, which consists of including the establishment of kinematics equation, the positive solutions of the kinematics equation, the corresponding inverse solutions. Secondly, the transfer joint, revolute joint and the transmission part are designed. The important part is the design of servo feeding system, which consists of the design of the platform and the screw, the selection of linear guide way, servo motor and reducer, etc. Finally, the corresponding calculations are done considering the systems main guide line such as components stiffness, strength and other performance parameters. Keywords: Robot manipulator;Freedom;Kinematics analysis;Servo motor;Right-angle reducer 目 录 1 引言 1 1.1 课题背景和意义 1 1.2 国内外研究现状 1 1.3 工业机械手的用途 3 2 机械手结构的总体方案设计 4 2.1 课题的主要内容 4 2.2 课题的研究方案 4 2.3 机械手结构的总体设计 4 2.3.1 主要技术指标设计 4 2.3.2 机械手的结构设计 4 3 机械手运动学分析 6 3.1 机械手运动学方程的建立 6 3.2 运动学方程的正解 7 3.3 运动学方程的逆解 8 4 传动装置的设计 10 4.1 伺服电机及减速器的选择 10 4.1.1 机电领域中伺服电机的选择原则 10 4.1.2 旋转关节驱动电机及减速器的选择 10 4.2 链轮的设计及链条的选择 11 4.2.1 滚子链传动的设计 11 4.2.2 链轮的设计 13 4