摘要：本文简要介绍了机械手的概念，机械手的组成和分类，国内外的发展状况及发展前景。本文对机械手进行总体方案设计，结合生产实际及理论确定了机械手的结构及动作过程，坐标型式和自由度数，并列出了机械手的技术参数。设计出了机械手的驱动方案、控制方案，。本机械手是3自由度，分别是横向移动，纵向移动和整体转动。横向机构和纵向机构是以液压传动方式来进行，转动机构是两个圆锥齿轮与电动机控制。液压系统共有2种控制方法，一种为通过计算机程序对其进行控制，用于正式使用阶段；另一种为手动控制各开关，令电磁阀得电或失电，用于调试系统时使用。2种控制方法通过开关进行切换。本机械手抓取工件主要靠的是三个自有度的调节，根据工件位置，调整机械手的横纵向移动和整体选择来定位。
关键词   机械手；3自由度；液压； 转动机构4362
Small multi-degree-of-freedom robot body design
Abstract: This paper introduces the concept of the robot, the robot's composition and classification of domestic and international developments and prospects. This paper manipulator overall program design, combined with the actual production and theory to determine the structure of the robot and action process, coordinate types and degrees of freedom, and a list of the technical parameters of the robot. Designed the robot driving scheme, control scheme. This is a 3-DOF manipulator, namely lateral movement, vertical movement and overall rotation. Lateral agencies and institutions are vertical hydraulic transmission means to carry out, rotating mechanism is two bevel gears and motor control. There are two kinds of hydraulic system control method is through a computer program to control it, for official use phase; another way for the manual control of the switch, so that the solenoid is energized or de-energized, the system is used for debugging. Two kinds of control methods to switch through the switch. The workpiece manipulator crawl owned mainly by the three degrees of regulation, according to the workpiece position, adjust the horizontal and vertical movement of the robot and the overall selection to locate.
KeyWords: robot manipulator；3 DOF；Hydraulic；Rotational structure
目  录
1    序言1
1.1    前言 1
1.2    机械手概述 2
1.2.1    机械手设计的目的2
1.2.2    机械手的用途2
1.2.3    机械手的主要性能参数3
1.3    设计的研究范围 4
2    设计内容及设计步骤5
3    总体设计方案6
4    机械手主体的设计7
4.1    机械手的工作要求设计 7
4.1.1    手臂重量的计算7
4.1.2    机械手支柱机构及整体质量计算7
4.2    机械手手部机构设计 7
4.2.1    手部机构驱动设计7
4.2.2    手部机构与手爪连接设计9
4.3    横向机构设计9
4.3.1    横向机构的驱动设计9
4.3.2    横向机构与手部机构的连接设计11
4.3.3    横向机构与纵向机构的连接设计12
4.3.4    导向杆与导向套的设计13
4.4    纵向机构设计13
4.4.1    纵向机构的驱动设计13
4.4.2    纵向机构与横向机构的连接设计14
4.4.3    纵向机构与旋转机构的练级设计14
4.4.4    导向杆与导向套的设计15
4.5    回转机构的设计15
4.5.1    回转机构驱动设计15
4.5.2    齿轮设计及校核17 小型多自由度机械手主体设计+CAD图纸+答辩PPT:http://www.youerw.com/jixie/lunwen_1005.html