【计算机论文全套栏目提醒】:网学会员为广大网友收集整理了,毕业设计论文-机械手结构的总体方案设计(全套图纸) - 毕业设计,希望对大家有所帮助!
完整论文 摘 要 随着机器人在各个领域应用的日益广泛,许多场合要求机器人具有力控制的能力。
此次设计是针对回转壳体内自动粘贴胶片的任务,设计一个 3—DOF 平面关节型机械手 ,(包括 1 个移动关节, 个转动关节和末端执行机构) 配合壳体驱动系统来实现此任务。
2在机械手工作过程中,通过伺服电机带动丝杠转动,从而来完成机械手水平方向的移动,旋转关节 1 通过链传动来完成平面内的旋转动作,旋转关节 2 直接在伺服电机的驱动下完成平面内的旋转动作,这样机械手可以伸入口径较小的回转壳体内完成粘贴胶片的任务。
本次设计工作首先对机械手进行了运动学分析(包括运动学方程的建立,运动学方 。
设计内容包括机械手的移动关节、旋转关节的结构设计,程的正问题、逆问题及其解)传动部分的设计等。
其中,重点是对伺服进给系统的设计(包括工作台的设计,丝杠的 。
最后对系统中主要部件的刚度、强度设计,直线导轨、伺服电机和减速器的选取等)等性能参数进行了计算与校核。
关键词:机械手;自由度;运动学分析;伺服电机;直角减速器 全套完整版 CAD 图纸,联系 153893706 Abstract With the increasing application of robot in various industrial fields it is requested thatrobot has the ability to control power. According to the contact task of rotary hull a 3-DOFrobot manipulator is designed in order to accomplish sticking of the colloid. The robotmanipulator consists of a transfer joint and two revolute joints and robot end-effector. Therobot manipulator could realize the contacting task combining with the driving system ofrotary hull. The concrete processing comprising of driving screw transmission with the servomotor. In this way robot manipulator could complete movement in horizontal direction therevolute joint could be able to accomplish revolute motion of two dimension-space through achain driving the revolute joint of end-effector completes directly revolute motion with theservo motor. Firstly this design has been carried on the kinematics’ analysis in order to the manipulatorwhich consists of including the establishment of kinematics equation the positive solutions ofthe kinematics equation the corresponding inverse solutions. Secondly the transfer jointrevolute joint and the transmission part are designed. The important part is the design of servofeeding system which consists of the design of the platform and the screw the selection oflinear guide way servo motor and reducer etc. Finally the corresponding calculations aredone considering the systems main guide line such as components stiffness strength andother performance parameters.Keywords: Robot manipulator;Freedom;Kinematics analysis;Servo motor;Right-anglereducer 目 录1 引言 ........................................................................................................................................... 1 1.1 课题背景和意义 ................................................................................................................. 1 1.2 国内外研究现状 ................................................................................................................. 1 1.3 工业机械手的用途............................................................................................................. 32 机械手结构的总体方案设计 ............................................................