SCARA型装配机械手结构设计.docx

最新 精品 Word 欢迎下载 可修改 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根底上，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开展及其分类情况。在论文第二，三章具体表达了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。**scara 机器人，步进电机，结构设计，机器臂Structure Design of SCARA Assembly ManipulatorAbstractA SCARA robot is a robot of plane and joint composed of three degrees of freedom. Its mostly function is used to complete transition and motion of exact apparatuses and objects. Because of its small volume and simple drive principle, it is widely used in the field of electronic and electric industry, homeused electricware industry and exact mechanism. The whole system is composed of manipulator hand, manipulator arm, joints and stepper motor driving system. By stepper motor’s driving of each degree of freedom, it completes location change of manipulator hand and manipulator arm. The idiographic designing content is designing of inphase toothshape strap, designing of silkbar nut, designing of shell and axis and the choice of stepper 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 robots. In the second and third chapter, it introduces detailed detail among the processing 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.8kg,4kg 。1 1, 12, l3分别为各重心到第一关节处的距离，其值为150mm ,450mm,550mm。在式(21)中，JG1≤m1 1 12，JG2m2122,JG3 m3l32故JG1,J