SCARA型装配机械手结构设计.doc

内容来自： HYPERLINK 文档资源库 机械手毕业设计SCARA 型装配机械手结构设计 摘 要 Scara 机器人是一种由三个自由度组成的平面关节型机器人，它的主要作用是可以完成精 密仪器和物体的搬运和移动。由于体积小，传动原理简单，被广泛运用于电子电气业，家用 电器业，精密机械业等领域。整个系统由机器手，机器臂， 关节， 步进电机驱动系统等组成。 通过各自由度步进电机的驱动，完成机器手，机器臂的位置变化。具体设计内容为：同步齿 形带传动设计，丝杠螺母设计，各输出轴和壳体的设计,步进电机的选择等。在校核满足其 结构强度的基础上，我们对 scara 机器人的结构进行优化设计。 本论文着重研究 scara 机器人的结构设计和运动学分析。在论文开始首先介绍了机器人的 发展及其分类情况。在论文第二，三章具体叙述了 scara 机器人的结构设计和运动学分析 的详细过程。在论文末尾还对 scara 机器人进一步改进措施和应用展望进行了阐述。 关键词：scara 机器人，步进电机，结构设计，机器臂Structure Design of SCARA Assembly Manipulator Abstract A SCARA robot is a robot of plane and joint composed of three degrees of freedo m. Its mostly function is used to complete transition and motion of exact apparatus es and objects. Because of its small volume and simple drive principle, it is widely used in the field of electronic and electric industry, home-used electric-ware indust ry and exact mechanism. The whole system is composed of manipulator hand, ma nipulator arm, joints and stepper motor driving system. By stepper motor’s driving o f each degree of freedom, it completes location change of manipulator hand and m anipulator arm. The idiographic designing content is designing of in-phase tooth-sha pe strap, designing of silk-bar nut, designing of shell and axis and the choice of st epper motors. On the base of checking its structure intensity, while it satisfied, we optimize designing of the structure of SCARA robots. This paper put its emphases on research of its structure designing and kinematics analysis. At the beginning of this paper, it introduces the development and sort of r obots. In the second and third chapter, it introduces detailed detail among the proc essing of the structure designing of a SCARA robot and its kinematics analysis. At the last, this paper gives some measures about improving of SCARA robots, and gives a expectation about its future. Key Words: SCARA robots, stepper motor, structure design, manipulator arm目 录摘 要 i Abstract ii 第一章 绪论 1 1.1 机器人的特点 1 1.2 机器人的构成及分类 1 1.2.1 机器人的构成