毕业设计（论文）工业机械手的设计.doc

摘要
在机械制造业中,机械手已被广泛应用,从而大大的改善了工人的劳动条件,显著的提高劳动生产率,加快实现工业生产机械化和自动化的步伐,本设计通过对机械手各主要组成部分(手部、手腕、手臂和机身等)分析,从而确定各主要组成部分的结构,在此基础上对机械手进行设计计算,从而确定装配总图。通过此次机械手设计,掌握相关机械手设计的主要步骤,对于CAD/CAM 软件应用方面有了进一步的提高。
关键词:机械手,设计,手部,手腕,手臂,机身,结构
The Design of Industry Manipulator
Abstract
In the mechanical manufacturing industry, the manipulator has been widely applied, thus the big improvement worker's work condition, the remarkable enhancement labor productivity, sped up realizes the industrial production mechanization and the automated step, this design through to the manipulator each main constituent (hand, skill, arm and fuselage and so on) analyzes, thus determined each main constituent the structure, carries on the design calculation in this foundation to the manipulator, thus determination assembly assembly through this manipulator, the grasping correlation manipulator designs the main step, had the further enhancement regarding the CAD/CAM software application aspect.
Keywords: Manipulator, design, hand, skill, arm, fuselage, structure
目录
1 绪论............................................................. 1
2 机械手设计要求................................................... 1
3 机械手总体设计方案............................................... 1
机械手的组成............................................... 1
执行机构............................................. 1
驱动机构............................................. 2
控制机构............................................. 2
机械手在生产中的应用....................................... 2
机械手的主要特点........................................... 2
机械手的技术发展方向....................................... 3
机械手坐标形式与自由度选择................................. 4
机械手坐标形式选择................................... 4
机械手自由度选择..................................... 4
机械手的规格参数........................................... 4
机械手手部设计计算......................................... 5
手部设计基本要求...................................