平面关节型机械手整体结构和控制系统设计机械A图纸.doc

摘 要 随着世界经济和技术的发展，人类活动领域的不断扩大，机器人应用正迅速向社会生产和生活的各个领域扩展，也从制造领域转向非制造领域，各种各样的机器人产品随之出现。本论文在综述近年来机器人技术研究和发展状况的基础上，结合物料抓取机械手的设计，对机器人技术进行了分析，提出了平面关节型机械手的整体结构和控制系统设计方案。 平面关节型机械手是当今应用最广泛的机械手类型之一，既可用于实际生产，又可以用于教学实验和科学研究。用于实际生产，它能够满足装配作业内容改变频繁的要求；用于教学实验，它能够使人直观地了解机器人的结构组成、动作原理等。 本次设计目的就是采用机电一体化设计思想，充分考虑机、电、软、硬件各自特点进行互补优化，对机械手整体结构、传动系统、驱动装置和控制系统进行分析和设计。 本次设计要求是一种效率高，结构合理能完成指定任务的机器人产品。这项成果不仅经济实用，同时具有广泛的实际意义和应用前景。 本次设计主要采用机械结构和电气控制来完成自动抓料的目的。要实现的理想加工过程是：人对主机输入一个控制信号，可以通过单片机对电机、电磁铁进行电气控制，从而使机器手能够按照类似人手的工作过程来完成抓料和转动。 虽然机械手在现今应用的很广泛，但还有非常大的发展空间。正如本次设计的平面关节型机械手也一定会得到广泛的应用。 关键词：机械手；关节型；机械结构；电气控制 Abstract Both as fast as world economy and technical develop，human activities domanial away enlarge，robot application just promptitude to society produce and swept over society produce live each field，too from manufacture field turn not manufacture field，assorted robot product came along of face. In this paper, an scheme of robot whole mechanical configuration and control system is provided based on the research and development of robot in recent years and connected with the design of the object holding manipulator. The structural composition, operating principle grade of the it was nowadays apply most comprehensive manipulator style among，be useful for real production， as well as could be used for teaching experiment and science that plane articulation type manipulator. be used for real production，it could satisfaction block assembly content transfer frequent require；be used for teaching experiment，it could brought human intuitively known robot. The purpose of analysis and design of robot mechanical configuration, transform　system, drive department and control system are guided by mechatronics idea and the respective characteristic and complement of mechanical, electronics, software and hardware are also taken into account. This design requests a kind of robot product with high efficiency , the structure is reasonable and can complete the duty assigned. This achievement is not only practi