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1、多自由度鋁合金機(jī)械手的設(shè)計(jì)與實(shí)現(xiàn)作 者 姓 名 議一 議 專 業(yè) 機(jī)械設(shè)計(jì)制造及其自動(dòng)化 指導(dǎo)教師姓名 意 義i 專業(yè)技術(shù)職務(wù) 講 師 25目 錄摘 要 3第一章 前言 41.1工業(yè)機(jī)械手概述 51.2機(jī)械手的組成和分類 51.2.1機(jī)械手的組成 51.2.2機(jī)械手的分類 61.3國(guó)內(nèi)外發(fā)展?fàn)顩r 61.3.1機(jī)械手發(fā)展歷史 61.3.2機(jī)械手發(fā)展趨勢(shì) 71.4 本論文研究的內(nèi)容及意義 8第二章 工業(yè)機(jī)械手的總體設(shè)計(jì) 92.1機(jī)械手基本形式的選擇 92.2機(jī)械手的主要部件及運(yùn)動(dòng) 92.3驅(qū)動(dòng)機(jī)構(gòu)的選擇 92.4機(jī)械手主要技術(shù)參數(shù)指標(biāo) 11第三章 機(jī)械手的機(jī)械系統(tǒng)設(shè)計(jì) 123.1機(jī)械手的手部設(shè)計(jì)基

2、本要求 123.2機(jī)械手典型的手部結(jié)構(gòu) 123.3 機(jī)械手手抓的設(shè)計(jì)計(jì)算 123.3.1選擇機(jī)械手手抓的類型及夾緊裝置 123.3.2手抓的力學(xué)分析 123.3.3手抓夾緊力及驅(qū)動(dòng)力的計(jì)算 133.3.4手抓夾持范圍計(jì)算 143.4銷軸的選擇與校核 15第四章 機(jī)械手驅(qū)動(dòng)裝置的選擇 164.1機(jī)械手夾緊氣缸的選擇 164.1.1氣缸直徑的計(jì)算 174.1.2氣缸型號(hào)的確定 174.2機(jī)械手上升氣缸的選擇 174.2.1手部重量的估算 174.2.2上升氣缸型號(hào)的選擇 184.2.3氣缸控制回路原理圖 184.3電機(jī)的選擇 194.3.1電機(jī)的類型及作用 194.3.2電機(jī)的選擇 204.4軸承

3、的選擇 214.4.1軸承的類型及特點(diǎn) 214.4.2軸承的選擇 214.5軸的設(shè)計(jì) 22第五章 總結(jié)與展望 23參考文獻(xiàn) 25致 謝 26山東輕工業(yè)學(xué)院2010 屆本科生畢業(yè)設(shè)計(jì)摘 要機(jī)械手主要由手部和運(yùn)動(dòng)機(jī)構(gòu)組成。手部是用來抓持工件（或工具）的部件，根據(jù)被抓持物件的形狀、尺寸、重量、材料和作業(yè)要求而有多種結(jié)構(gòu)形式，如夾持型、托持型和吸附型等。運(yùn)動(dòng)機(jī)構(gòu)，使手部完成各種轉(zhuǎn)動(dòng)（擺動(dòng)）、移動(dòng)或復(fù)合運(yùn)動(dòng)來實(shí)現(xiàn)規(guī)定的動(dòng)作，改變被抓持物件的位置和姿勢(shì)。運(yùn)動(dòng)機(jī)構(gòu)的升降、伸縮、旋轉(zhuǎn)等獨(dú)立運(yùn)動(dòng)方式，稱為機(jī)械手的自由度 。為了抓取空間中任意位置和方位的物體，需有6個(gè)自由度。自由度是機(jī) 械手設(shè)計(jì)的關(guān) 鍵參數(shù)。自由

4、 度越多，機(jī)械手的靈活性越大，通用性越廣，其結(jié)構(gòu)也越復(fù)雜。一般專用機(jī)械手有23個(gè)自由度。本畢業(yè)設(shè)計(jì)中，采用直角坐標(biāo)和關(guān)節(jié)坐標(biāo)相結(jié)合的框架式機(jī)械結(jié)構(gòu)形式，這種方式能夠提高系統(tǒng)的穩(wěn)定性和操作靈活性。傳動(dòng)裝置是將驅(qū)動(dòng)元件的動(dòng)力傳遞給機(jī)器人機(jī)械手相應(yīng)的執(zhí)行機(jī)構(gòu)，以實(shí)現(xiàn)各種必要的運(yùn)動(dòng)，傳動(dòng)方式上采用結(jié)構(gòu)緊湊、傳動(dòng)比大的蝸輪蝸桿傳動(dòng)和將旋轉(zhuǎn)運(yùn)動(dòng)轉(zhuǎn)換為直線運(yùn)動(dòng)的螺旋傳動(dòng)。機(jī)械手驅(qū)動(dòng)系統(tǒng)的設(shè)計(jì)往往受到作業(yè)環(huán)境條件的限制，同時(shí)也要考慮價(jià)格因素的影響以及能夠達(dá)到的技術(shù)水平。由于步進(jìn)電機(jī)能夠直接接收數(shù)字量，響應(yīng)速度快而且工作可靠并無累積誤差，常用作數(shù)字控制系統(tǒng)驅(qū)動(dòng)機(jī)構(gòu)的動(dòng)力元件，因此，在驅(qū)動(dòng)裝置中采用由步進(jìn)電機(jī)構(gòu)成

5、的開環(huán)控制方式，這種方式既能滿足控制精度的要求，又能達(dá)到經(jīng)濟(jì)性、實(shí)用化目的，在此基礎(chǔ)上，對(duì)步進(jìn)電機(jī)的功率計(jì)算及選型問題經(jīng)行了分析。關(guān)鍵詞：機(jī)械手 自由度 電機(jī) 執(zhí)行機(jī)構(gòu) ABSTRACTThe manipulator is mainly composed of the hand and the motion. The hand is uses for to grasp holds the work piece (or tool) the part, according to is grasped holds the thing shape, the size, the weight, the

6、material and the work request has many kinds of structural styles, like the clamp, the request hold and the adsorption and so on. The motion, causes the hand to complete each kind of rotation (swinging), the migration or the compound motion realizes the stipulation movement, changes is grasped holds

7、 the thing position and the posture. Motions fluctuation, the expansion, revolving and so on independence movement way, is called manipulators degree-of-freedom. In order to capture in the space the optional position and the position object, must have 6 degrees-of-freedom. The degree-of-freedom is t

8、he key parameter which the manipulator designs. The degree-of-freedom are more, manipulators flexibility is bigger, the versatility is broader, its structure is also more complex. Generally the special-purpose manipulator has 23 degrees-of-freedom.In this article, the mechanical configuration combin

9、es the character of direction coordinate and the arthrosis coordinate which can improve the stability and operation flexibility of the system. The main function of the transmission mechanism is to transmit power to implement department and complete the necessary movement. In this transmission struct

10、ure, the screw transmission mechanism transmits the rotary motion into linear motion. Worm gear can give vary transmission ratio. Both of the transmission mechanisms have a characteristic of compact structure. The design of drive system often is limited by the environment condition and the factor of

11、 cost and technical lever. The step motor can receive digital signal directly and has the ability to response outer environment immediately and has no accumulation error, which often is used in driving system. In this driving system, open-loop control system is composed of stepping motor, which can

12、satisfy the demand not only for control precision but also for the target of economic and practicality. On this basis，the analysis of stepping motor in power calculating and style selecting is also given. Key words：manipulator; degree-of-freedom; motor; implement department第一章 前言1.1工業(yè)機(jī)械手概述機(jī)械工業(yè)是國(guó)民的裝備部，是為國(guó)民經(jīng)濟(jì)提供裝備和為人民生活提供耐用消費(fèi)品的產(chǎn)業(yè)。不論是傳統(tǒng)產(chǎn)業(yè)，還是新興產(chǎn)業(yè)，都離不開各種各樣的機(jī)械裝備，機(jī)械工業(yè)所提供裝備的性能、質(zhì)量和成本，對(duì)國(guó)民經(jīng)濟(jì)各部門技術(shù)進(jìn)步和經(jīng)濟(jì)效益有很大和直接的影響。機(jī)械工業(yè)的規(guī)模和技術(shù)水平是衡量國(guó)家經(jīng)濟(jì)實(shí)力和科學(xué)技術(shù)水平的重要標(biāo)志。因此，世界各國(guó)都把發(fā)展機(jī)械工業(yè)作為發(fā)展本國(guó)經(jīng)濟(jì)的戰(zhàn)略重點(diǎn)之一。工業(yè)機(jī)械手是近幾十年發(fā)展起來的一種高科技自動(dòng)化生產(chǎn)設(shè)備。工業(yè)機(jī)械手是工業(yè)機(jī)器人的一個(gè)重要分支。它的特點(diǎn)是可通過編程來完成各種預(yù)期的作業(yè)任務(wù)，在