线性模组机械手设计（已改）.docVIP

PAGE PAGE 22 线性模组机械手设计 摘要：工业机械手由机体、控制器、伺服驱动系统和检测传感器装置组成，是一个仿人操作、自动控制、重新编程、全机电一体化的三维空间各种操作自动化生产设备。特别适用于多品种、批量生产的柔性化生产。它对提高产品质量，提高生产效率，改善劳动条件，产品的快速升级起着非常重要的作用。生产中应用机械手可以提高生产的自动化水平，可以减轻劳动强度、保证产品质量、实现安全生产的机械手的结构比较简单，通用机械手能很快的改变工作程序，适应性强，被广泛引用的小批量生产，因此在更换品种生产。 本课题将设计一个四自由度机械手，其中，三个移动自由度，需完成X、Y、Z三维空间内的移动要求，另外一个手部夹持工作，完成手部搬运。它能实现平面运动，具有柔顺性，全臂在垂直方向的刚度大，在水平方向的柔性大，广泛用于装配作业中。 关键字： 机械手；机电一体化；自由度 The design of four degrees freedom mechanical hand Abstract: Industrial manipulator is composed of machine body, controller, servo drive system and detection sensor device, a humanoid operation, automatic control, can repeat programming, to complete the electromechanical integration automatic production equipment of various operations in three-dimensional space. Especially suitable for the production of a variety of flexible, variable volume. Its stability, improve product quality, improve production efficiency, plays a very important role in improve working conditions and the rapid upgrading of products. Production of mechanical hand can improve the automation level of production, can reduce labor intensity, to ensure product quality, realize the structure safety of the manipulator is relatively simple, general machinery hand can quickly change the working procedure, strong adaptability, widely cited small batch production so it is in changing varieties in production. This paper will design a four DOF Manipulator, wherein, three degrees of freedom of movement, to complete the X，Y，mobile Z in the three-dimensional space, another rotational degree of freedom, rotational movement of the hand requirements. It can achieve planar motion, with the flexibility, the arm in the vertical stiffness, flexibility in the horizontal direction of the large, widely used in assembly operations. Keywords：Manipulator; mechatronics; degree of freedom 目录 TOC \o 1-3 \h \z \u 目录 III 第一章绪论 4 1.1引言 4 1.2 国内外机器人领域研究现状及发展趋势 4 1.3机器人发展趋势 5 第二章 机械手总体设计方案 6 2.1机械手基本形式选择 6 2.1.1直角坐标系机器人 6