机器人的手臂关节结构设计说明书.doc

摘 要 机械手能模仿人手和臂的某些动作功能，用以按固定程序抓取、搬运物件或操作工具的自动操作装置。机械手是最早出现的工业机器人，也是最早出现的现代机器人，它可代替人的繁重劳动以实现生产的机械化和自动化，能在有害环境下操作以保护人身安全，因而广泛应用于机械制造、冶金、电子、轻工和原子能等部门。 Abstract Robot is a kind of science related to many other ones such as computer science, mechanism, electronics, automation control and artificial intelligence. Now, robots are used in many fields, especially in the aspect of assembly task. It represents the up-most level of mechatronics. Among assembly, plane articulated assemblyrobot (SCARA manipulator) is used most widely. This topic puts forward designing a kind of assemble robot, used for an assemble electronics component, after analy domestic and international SCARA, the surface of sphere SCARA etc. Through compare with different project. After making sure superior project, though the careful calculation and check.Make design with simple structure,credibility circulate, reasonable cost, can satisfy the teaching experiment etc.. The presented SCARA manipulator in this paper is a pint-sized assembly robot, where the structure of SCARA manipulator is designed. The presented SCARA manipulator in this paper has following characters: good universality, small volume, light weight, beautiful appearance and low cost, so the structure of robot is fully considered which has four freedoms and is consisted of comprises base, big arm, small arm and wrist. The simple reliable transmission scheme of SCARA manipulator is composed of harmonic deceleration and gear wheel and feed screw. The four joints are all driven by stepping motors, which has the characters of simple control and low cost. Keyword: Industrial robots Freedom Robot 目录 摘 要 I Abstract II 第1章　绪论 1 第2章 总体方案设计 3 2.1 工业服务机器手的传动系统设计 3 2.1.1机械手驱动系统的比较与选择 3 2.1.2 传动机构的对比与分析 5 2.2 机械手总体设计方案的比较确定 6 第3章 步进电机的选择及其校核计算 11 3.1 主要技术参数确定 11 3.2 各自由度步进电机的选择 11 3.2.1 第一自由度步进电机的选择 12 3.2.2 第二自由度步进电机的选择 13 3.2.3 第三自由度步进电机的选择 13 3.2.4 第四自由度步进电机的选择 14 3.2.5 第五自由度步进电机的选择 14 3.3 第一自由度轴传动系统的计算与校核 14 3.3.1 第一自由度轴的等效转动惯量的计算 14 3.3.2 步进电机1的