设计搬运机械手（极坐标）方案及机械结构部分.docxVIP

设计搬运机械手（极坐标）方案及机械结构部分 I 摘 要 进入21世纪，随着我国人口老龄化的提前到来，近来在东南沿海还出现大量的缺工现象，迫切要求我们提高劳动生产率，提高我国工业自动化水平势在必行。工业机械手是工业生产的必然产物，它是一种模仿人体上肢的部分功能，按照预定要求输送工件或握持工具进行操作的自动化技术设备，对实现工业生产自动化，推动工业生产的进一步发展起着重要作用，因而具有强大的生命力受到人们的广泛重视和欢迎。本课题对搬运机械手进行了总体方案研究，确定了机械手的坐标形式和自由度，确定了机械手的技术参数。同时，通过AutoCAD 技术的应用对机械手各部件机械结构进行了设计。机械结构的设计包括机械手手部和腕部结构设计、手臂回转和手臂摆动机构的材料选择和成型设计以及它们之间的联结设计,并进行关键部件的设计计算。 本课题所设计的极坐标机械手应用于工业自动化生产线，达到能够提高劳动生产率、工业性能稳定等目的。 关键词：机械手，极坐标，液压，AutoCAD 设计搬运机械手（极坐标）方案及机械结构部分 II ABSTRACT In the 21st century, with the advance of the arrival of an aging population, also appeared recently in the southeast coast of a large number of labor shortage, we have an urgent requirement to improve labor productivity, improve the level of industrial automation is imperative.Industrial manipulator is the inevitable product of industrial production, it is a part of the upper extremity function to imitate the human body, in accordance with the scheduled transfer jobs or holding tools required to operate the automation equipment, automation of industrial production, and promote the further development of industrial production playsimportant role, which has a strong vitality by the widespread attention and welcome.The subject of the overall transportation plan manipulator studied to determine the coordinates of the manipulator forms and degrees of freedom to determine the technical parameters of the manipulator.Meanwhile, AutoCAD technology parts of the robot mechanical structure is designed.Mechanical structure design, including hand and wrist robot design, the arm rotation and arm swing mechanism of the material selection and shape design and the design link between them and the key components of the design calculations. The topics are designed to polar coordinates used in industrial automation and robotic production lines, to be able to improve labor productivity, industrial performance, stability or other purposes. Keywords:manipulator, polar, hydraulic, AutoCAD 设计搬运机械手（极坐标）方案及机械结构部分 III 目 录 1 绪论----------