7自由度工业机器人机械结构毕业设计.doc

7 自由度工业机器人机械结构设计
摘要
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自由度工业机器人以工作范围大、动作灵活、结构紧凑、能抓取靠近机座
的物体等特点备受设计者和使用者的青睐。由于有一个冗余自由度,很容易在确
保最佳焊接姿势的同时,避免工件以及夹具对机器人工作臂的干扰。
本论文首先根据机器人持重 3kg 、工作范围1434mm 、本体重量150 kg ,确立
机器人为 S 腰部回转、L 小臂摆动、E 大臂回转、U 臂部俯仰、R 腕部扭转、B
腕部俯仰、T 腕部回转的 7 自由度关节型弧焊机器人的总体结构;分析机器人的
各个关节在转动惯量、角速度、加速度等技术指标下的工作状况,确定 7 个关节
都采用交流电机驱动、机器人手臂专用减速器传动,同时 B、T 腕部关节还用到
同步带传动。通过计算各关节所需电机的功率和转矩、减速器的减速比、同步带
的要求并选型;用 UG 画出机器人的各关节三维仿真模型,并装配成型。
本课题研究具有广泛的实际意义和应用前景。设计的 7 自由度工业机器人为
后续的机器人动力学分析和运动控制提供了参考依据,并可以做进一步的研发。
关键词:7自由度,工业机器人,机械结构
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7 自由度工业机器人机械结构设计
Abstract
7 dof industrial robots with large scope of work, flexible, compact structure, can
grab the object near the base are famous among so much designers and users. Because
there is a redundant freedom, it is easy to ensure the best welding position at the same
time, avoid workpiece and fixture work on the robot arm interferenceIn this thesis, according to the robot puts up 3kg , the scope of work is 1434mm ,
body weight is 150kg ,establish 7 dof joint structure of arc-welding robot including S
waist, L arm swing, E arm rotation, U pitching arm, R wrist turn, B wrist pitch, T wrist
rotationAnalysis of the various robot joints in moment of inertia, angular velocity,
acceleration and other technical indicators of the work under the conditions identified
seven joints driven by AC motor, the robot arm dedicated reducer drive, while B, T
wrist joint is also used in synchronous belt driveRequired by calculating the joint
motor power and torque, reduction ratio reducer, belt requirements and selection; robot
with UG draw three-dimensional simulation model of each joint, and assembly
moldingThis research has extensive practical significance and application prospect7 dof
industrial robots designed for the follow-up dynamics analysis and motion control and
provide a reference, and can do further research and developmentKey words: 7 dof, industrial robot, mechanical structure
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7 自由度工业机器人机械结构设计
目录
摘要I
AbstractI