气动指挥机械手臂设计_毕业设计.doc

PAGE 学士学位论文 气动指挥机械手臂设计 所在院系：工程学院 所学专业：机械设计制造及其自动化 研究方向：流体传动控制 Bachelor Degree Dissertation No：****** Design on Mechanical Arm Controlled by Pneumatic Transmission Student: *** Supervisor: *** College: Engineering Speciality: Mechanical design and manufacture and automatization Direction: Fluid transmission control ******* ***** ·China June 2009 气动指挥机械手臂设计 PAGE IV 摘 要 本文主要围绕着气动指挥机械手臂的设计过程进行阐述和分析，文中主要讨论了以下几个方面的内容：气动指挥机械手臂的整体设计、机械手臂的运动模拟、气动系统回路设计、气动元件的选型以及指挥机械手臂控制部分设计。在设计过程中提出了一种新的设计思路，即对不确定的各个设计参数的拟人动作机械人进行动态仿真分析，从模拟试验中得到所需的各参数和标准。气动指挥机械手臂的整体设计主要针对机械手臂的自由度、工作空间、工作速度、控制方式和驱动方式进行讲述；机械手臂的模拟运动将利用ADAMS运动仿真软件进行运动分析和数据采集；气动回路设计中将针对模拟结果的要求对系统的气动部分进行设计，并在后面的章节中对气动元件进行选型；最后的手臂控制部分设计中，采用了可编程控制器（PLC）控制的方法来实现各气缸的顺序和周期动作。 关键词：气动指挥机械手臂；ADAMS仿真；气动系统回路设计；PLC控制； Design on Mechanical Arm Controlled by Pneumatic Transmission This paper, focusing on the design of pneumatic command mechanical arm process and analyze. This article mainly discusses the following several aspects of content: Such as The pneumatic command mechanical arm of the overall design; Mechanical arm movement simulation; Designing the system of pneumatic; Choosing the type of the pneumatic component; Design of mechanical arm command control section. In the design process presents a new design idea, namely the uncertainty of the various design parameters of personification action on dynamic simulation, robots from simulation experiment of the parameters and the standard required, it will aim at the mechanism arms’ freedom; Working space; Working speed; The mode of control; The mode of drive. The mechanical arm of the motions of ADAMS software to motion simulation analysis and data collection for sports. In the section of designing the pneumatics’ system, I will design the part of pneumatics in the whole system and choose type of the pneumatics components in the next one. The last section about designing of the pneumatic direct manipulator’s control, The arm