摘要在现今的生活上,科技日新月益的进展之下,机械人手臂与有人类的手臂最大区别就在于灵活度与耐力度。也就是机械手的最大优势可以重复的做同一动作在机械正常情况下永远也不会觉得累！机械手臂的应用也将会越来越广泛,机械手是近几十年发展起来的一种高科技自动生产设备，作业的准确性和环境中完成作业的能力。工业机械手机器人的一个重要分支。种类，按驱动方式可分为液压式、气动式、电动式、机械式。特点是可以通过编程来完成各种预期的作业，构造和性能上兼有人和机械手机器各自的优点.31247
本课题设计的是组装式气动机械手，用于学校教学实验。主要包括了机械手立柱的设计，手臂设计，手爪等，实验转动或摆动，抓取物体。设计目标为四自由度机械手，当中包括机身的转动，手臂的俯仰，手臂伸缩，手爪的转动。通过气压缸来实现手臂的升降和伸缩，采用回转气压缸来实现手腕和手臂的回转。结构简单，便于学生们的使用操作，在PLC的程序控制下完成指定动作，给予学生直观的教学，让学生可以更有记忆。
毕业论文关键词：气动，机械手，四自由度,
Abstract In today's life, progress of science and technology date crecent moon profit under, the biggest difference between arm robot arm with human is flexibility and endurance. Is also the maximum advantage of the robot can repeat the same action in the normal circumstances of the machinery will never feel tired! The application of mechanical arm will also be more and more extensive, the manipulator is a kind of high-tech automatic production equipment which has developed in recent decades, the accuracy of the operation and the ability to finish the work in the environment. An important branch of the industrial robot manipulator. Types, driven by hydraulic, pneumatic, electric, mechanical. The feature is that it can be programmed to accomplish all kinds of expected operations, and the structure and performance of both the advantages of both man and machine mobile phone.
This topic is designed to assemble pneumatic manipulator for school teaching experiment. Including the design of manipulator arm, column design, gripper, rotate or swing grasping experiments. Design objectives for four degrees of freedom mechanical hand, which comprises a machine body rotation, pitching arm, telescopic arm, gripper rotation. Through pneumatic cylinder to achieve the lifting and stretching of the arm, the rotary pneumatic cylinder to achieve the wrist and arm of the revolution. Simple structure, easy for students to use the operation, the program control in the PLC to complete the specified action, giving students an intuitive teaching, so that students can more memory.
Keywords: pneumatic, manipulator, four degree of freedom, PLC
目       录
1  绪论    1
1.1  机械手概述    1
1.2  机械手的组成和分类    2
1.2.1  机械手的组成    2
1.2.2  机械手的分类    5
1.3  国内外发展状况    8
1.4课题研究的主要内容    10
1.5教学用机械手的功能要求及现实意义    10
1.5.1 教学用机械手的功能要求    10
1.5.2 教学用机械手的现实意义    10
2  机械手的设计方案    11
2.1  机械手的座标型式与自由度    11
2.1.1 机械手的坐标型式    11
 2.1.1.1 直角坐标型    12
 2.1.1.2 圆柱坐标型    12
 2.1.1.3 球坐标型    12
 2.1.1.4 关节型    13
2.1.2 机械手的自由度    13 组装式气动机械手+CAD图纸:http://www.youerw.com/jixie/lunwen_27338.html