工业机械手毕业论文4yvrcgwa.docVIP

工业机械手毕业论文 摘要 关键词：工业机械手，液压驱动，液压缸。 I Abstract The design of the industrial robot used for carrying workpieces, workpiece, gross weight, wide 30Kg 30cm long centimeters high, chief of 1.8 20cm m. In order to increase the generality of the manipulator, as far as possible in the structure is compact, under the situation of utmost ground to industrial robots have larger grab range. This design of introduces the concept of industrial robots, composition and classification of the manipulator, freedom and coordinates, sports and the development at home and abroad. For industrial robots are overall design of manipulator, the first identified for cylindrical coordinates coordinates type, free degree, then determined for five of the manipulator device drivers for the hydraulic cylinder, then determines the main technical parameters of the robot. At the same time, the design of manipulator hand structure sliding channel for leveraged plier, wrist motor driven by structure form for turning wrist, arm adopts double guide bar structure form, the structure and form to turn over in the cylinder cylinder structure form, calculated the clamping workpiece, the driving force for the wrist curls driving torque arm, the driving force for expansion, the force required arms pitch, arm movements of the arms and driving force for driving torque required rotation. Then the design of industrial robots each part of hydraulic cylinder size and structure and connection between the parts and components of supporting structure and size. Keywords: industrial robots, hydraulic drive, hydraulic cylinder. II 目录 摘要 .......................................................................................................................................................... I ABSTRACT ................................................................................................................................................. II 1 绪论 ............................................................................