摘要六自由度机械手作为现代机器人的一个重要组成部分，也随着技术的提高不断发展。普通机械手只能完成单工作任务或者较简单的操作，多自由度机械手在很多的工程技术及工程实际中能更为合理的进行一些现实操作。越来越多的多自由度机械手可以代替人的实际劳动，因此对机械手的研究是有很大意义的。86304
论文设计了一个六自由度的机械手，由手抓、手臂、手腕和圆盘底座四个部分组成，尺寸与人的手臂大小相当，各关节采用舵机驱动。机械手的动作包括：底座的旋转、大臂的摆动、小臂的摆动、手腕的摆动、手腕的旋转、手抓的张合六个自由度。机械手的活动半径为0。4m，能抓取较小的物体，放到一定的位置。在Solid Works软件中画出机械手各个零件的三维模型，并完成最终的装配。然后把Solid Works模型数据导入到ADAMS软件中，对其进行相应的处理，添加约束、接触力和驱动，测出运动特性曲线，完成运动仿真，为虚拟样机分析技术做了尝试，积累了经验。最后录制了一段模拟人手抓取、移动、松放动作的视频。
毕业论文关键词：机械手 Solid Works ADAMS 仿真
Abstract Six degrees of freedom degrees of freedom is an important part of modern robot manipulator,it is developing with the improvement of technology development。Common manipulator can only complete a single task or simpler operation,multi degree of freedom manipulator in a lot of engineering technology and engineering practice can be more reasonable to carry out some practical operation。More and more multi degree of freedom manipulator can replace man's actual labor,So the research on the manipulator is of great significance。
This paper designed a kind of six degree of freedom manipulator,it has four parts:base,arm,wrist and hand grasp,its size is as large as the man’s arm size,each joint adopts servo drive。Rotation movement of the manipulator has six movements:the rotation of the base, the swing of the big arm, the swing of the arm, the swing of the wrist, the rotation of the wrist, the opening and closing of the hand。The mechanical hand activity radius 0。4m, can grab the lighter weight objects, put in a certain position。Draw the three-dimensional model of each part of the manipulator in Solid Works software,and complete the final assembly。Then the Solid Works model data is imported into the ADAMS software, the corresponding processing, adding constraints, creating a driver, then to carry on the movement simulation, measured motion characteristic curve, for virtual prototype analysis techniques have been tried, accumulate experience, finally recorded a video of imitating the human hand grasping, moving, loose action。
Keywords:manipulator;SolidWorks软件;ADAMS软件;simulation。
目录
第一章 绪论 1
1。1 机械手的概述 1
1。1。1 机械手的构成 1
1。1。2 机械手的分类 1
1。2。1 国外机械手研究现状 2
1。2。2 国内机械手研究现状 3
1。3 本课题研究的意义与内容 3
第二章 机械手的总体方案设计 5
2。1 整体分析 5
2。2 机械结构设计 6
2。2。1 底部设计 6
2。2。2 臂部设计 ADAMS+SolidWorks六自由度机械手的机械结构设计及其运动仿真:http://www.youerw.com/jixie/lunwen_102655.html