毕业设计（论文）-电动式换挡机械手结构设计.doc

吉林农业大学发展学院 毕业设计（论文） PAGE 第 PAGE 4页 共43页 电动式换挡机械手结构设计 [摘要] 本文介绍了一种同步器性能寿命测试系统中换挡装置的结构设计，选用直角坐标系，结构简单，操作灵活，完成了执行系统的设计计算工作。控制系统采用点位控制方式，具有很强的使用价值。 该系统利用电动机来驱动机械手运动，以便模拟人手的换挡过程。同时采集各种传感器发来的信号，对其分析处理后，来检测被试验同步器的性能与可靠性。本设计所用机械部件主要有步进电机、滚珠丝杠、滚动导轨、万向节等；电气部分主要由单片机及相应的外部扩展进行控制，并由数码管显示输出。 根据试验要求，系统所测量的数据包括换挡力及选挡力、换挡行程及选挡行程、 同步扭矩。从这些数据中，我们可以很容易的对同步器的性能和寿命进行分析。 [关键词] 同步器 机械手 换挡 The Structural Design of Electric Shifting Manipulator [Abstract] The essay briefly introduces the demand for the experiment of the shelf in the system of Synchronizer lifespan test, and it chooses the Cartesian coordinate system, has simple structure, operate flexible. It completed the overall design. The essay has finished the count and design of the execution system. The control system adopts the control method in the point. It is of some value in application. The system is driven the manipulator with the motor for simulate the process of changing shaft. And it collect signals from all kinds of sensors, how to analyze them for evaluate the ability and reliability of the testing synchronizer. The design major includes stepping motor, ball screw, rolling guide, universal joint etc. in the part of mechanical; The electrical part is controlled by single-chip and its external expansion, and it displays by digital tube. According to the demand, this system should test some parameters including the force for choose shift, the shift’s locomotive route, the synchronizer’s torsion, the synchronizer’s life-span and the synchronous torque. From these date we can analyze the synchronizer’s capability and the life span easily. [Keywords] Synchronizer Manipulator Gear shift 目 录 引言 1 TOC \o 1-3 \h \z \u 1．试验系统的组成及工作原理 1 1.1 机械系统的工作原理 2 1.2 机械手空间运动模型的简化 2 1.3 驱动系统的工作原理 4 1.4 计算机监测系统的组成 4 1.4.1 选择微型计算机 4 1.4.2 卡板选用 5 1.5 机械手运动控制程序模块设计 5 2．方案论证及数学模型的建立 6 2.1机械手空间模型的建立 7 2.2换挡接合