轻型平动搬运机械手的设计及运动仿真.pdf

轻型平动搬运机械手的设计及运动仿真
摘要
随着工业自动化发展的需要,机械手在工业应用中越来越重要。文章主要叙述了机械
手的设计计算过程。
首先,本文介绍机械手的作用,机械手的组成和分类,说明了自由度和机械手整体座
标的形式。同时,本文给出了这台机械手的主要性能规格参量。
文章中介绍了搬运机械手的设计理论与方法。全面详尽的讨论了搬运机械手的手部、
腕部、手臂以及机身等主要部件的结构设计。
最后使用软件对机械手的手部实现运动仿真。
关键词:机械手;运动仿真;液压传动;液压缸;
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Thelight stable motion transports manipulator's design and the movement simulation
Abstract
The applying of the manipulators are more and more important in the
industry, with the development of industrial automation. The paper mainly
narrated the design and calculation of light and transfer manipulator.
The first,The paper introduces the posing and classification
of the manipulator,tells out the free-degree and the form of
the same time,the paper gives out the primary specification parameter of this
manipulator.
This article system elaboration industry manipulator's design theory and
method. prehensive exhaustive discussion has transported manipulator's
hand, the wrist, the arm ,the fuselage and so on ,which the major structural
putation.
Finally uses the software to carry out the movement simulation for
manipulator's hand.
Keywords: manipulator; motion simulation; hydraulic power transmission;
Hydraulic cylinder
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目录
中文摘要..................................................................................................................................1
英文摘要..................................................................................................................................2
主要符号表..............................................................................................................................5
1 绪论....................................................................................................................................1
前言............................................................................................................................ 1
工业机械手的简史...........................................................................