工业机器人及电动驱动系统.docVIP

（学号〉: 0623418 长春理工大学光电信息学院 毕业设计（论文）译文 锻压机自动上料机械手执行系统设计Forging manipulator automatic feeding systemdes ign imp I ementation 姓 名 刘仲峰 学 院 机电工程分院 专 业 机械手机自造及其自动化 班 级 06234 指导教师 陈玲 2010 年 6 月 20 0 锻压机自动上料机械手的作用是将被加热的坯料从上料位置将热 坯料搬运到立式精锻机上锻打，其成品锻件由下料机械手从立式精锻机 上取下并送到转换机械手上，转换机械手先把锻件反转90度成水平位 置，由丙烷切割装置将两端切齐，切割完毕运送到车间外而的仓库。该 机械手包括执行系统、驱动系统和控制系统，本文主要设计了机械手的 执行系统即手部.腕部和臂部的设计，实现了手部的夹持、腕部的回转 和臂部的伸缩等功能，用CAD完成了该机械手的总装图及手部和臂部的 绘制，并分析操作该机械手的各种力学参数，讨论了其工作空间的情 况。同时对其进行动力学分析，得到各传动关节所需的驱动力，得出了 最终方案。 关键词： 锻压机执行系统 力学参数 Abstract The forge press automatic high-quality goods manipulator’s function is the semifinished materials which heats up from the high-quality goods position the hot semifinished materials is transported to the vertical fine forging machine on hammers, its end product forging takes down by the yummy treats manipulator from the vertical fine forging machine and delivers transforms on the manipulator, transforms the manipulator to reverse the forging 90 degrees to become the first horizontal position, cuts neat by the propane cutter device the both sides, cutting finished ships to the workshop outside the Warehouse- Manipulator including the implementation of the system, drive system and control system, this paper designed a robot hand that the implementation of the system. Wrist and arm of the design, implementation of the hand’s grip，wrist rotation and arm stretching functions use CAD to complete assembly of the mechanical hand and hand and arm map rendering, and analysis to operate the various mechanical parameters of the manipulator, discussed the situation of their work space- At the same time the dynamic of its analysis, the driving force needed to drive joint, come to the final program. Keyword: forging machine the implementation of the system the mechanical parameters 目录 TOC \o 1-5 \h \z HYPERLINK \l bookmark3 \o Current Document \h 第一章绪论 1 HYPERLINK \l bookmark4 \o Current Document \h 1.1 机械手发展状况 1 HYPERLINK \l bookmark5 \o Current Document \h 1.1.1 发展历史 1 H