五自由度机械手臂设阳计说明.doc

五自由度机械手臂设计 沈阳航空航天大学毕业设计（论文） PAGE 2 PAGE 1 五自由度机械手臂设计 学 院 机电工程学院 专 业 机械设计制造及自动化 班 级 学 号 姓 名 指导教师 负责教师 摘 要 近二十年来，机器人技术发展非常迅速，各种用途的机器人在各个领域广泛获得应用。我国在机器人的研究和应用方面与工业化国家相比还有一定的差距，因此研究和设计各种用途的机器人特别是工业机器人、推广机器人的应用是有现实意义的。 典型的工业机器人例如焊接机器人、喷漆机器人、装配机器人等大多是固定在生产线或加工设备旁边作业的，本论文作者在参考大量文献资料的基础上，结合项目的要求，设计了机械手爪,可用于搜索、抓取水下管件、缆线等细长物体,也可用于抓取其它形状的物体,具有一定的通用性。机器人能自动控制，多功能，有几个自由度，可固定或运动，用于相关自动化系统中。由于是根据课题任务而研制出的最实用、最经济的机器手臂，所以在机械手臂的自主化和智能化方面有所欠缺。 一种小型的、用与水下操作的五自由度机械手臂。该机械手臂主要由说手爪、腕、小臂、大臂和基座组成。同时用Solidworks对其进行了三维建模。 关键词：机器人；机械手臂；Solidworks；三维建模 Abstract About 20 in the last years , the robot technique develops very quickly and the robot of various use extensively acquires an application in each realm .Our countrys research and applied aspect and industrialization nation in the robot compare to still have a certain margin, so research and design the robot especially industrial robot of various use and expand the application of robot to have realistic meaning. The industrial robot of typical model for example weld robot, spray paint robot and assemble robots etc. mostly is fixed in the production line or process an equipments a flank homework, in making reference to the foundation of a great deal of cultural heritage data, the this thesis author combines the request of item, designed a machine hand claw, can used for search, grabbing at underwater tube piece, cable...etc. thin long object, can also used for the object which grabs at other shapes, have certain in general use .The robot can automatically control, multi-function, there is a few freedom degree, can fix or exercise, used for a related automation in .In view of the fact according to topic mission develop the most practical the most economic machine arm of , so in the machine arm of the independence turn to turn aspect to have a lack with intelligence. A kind of small scaled, use with the machine arm of five freedom degrees of underwater operation .The Solidworks in the meantime as to its carry on 3D set up