工件十字轴取料机械手设计+文献综述

本文介绍了用于工件“十字轴”的取料机械手的设计过程，该机械手采用圆柱坐标系，共三个自由度，采用气动驱动。首先，对工件及工况进行分析，确定总体设计方案；其次，针对机械手的每一部分分别进行结构设计、强度校核等，并用SolidWorks软件进行三文造型；然后，分析机械手的工作空间，对机械手进行整体布局，确定机械手与工件的相对位置；最后，确定机械手的动作顺序，并通过计算机制作动画模拟工作过程。本课题规划设计的机械手能够准确的完成工件的移动和定位，对减轻工人劳动强度和难度、提高工作效率和质量、降低生产成本具有较好的实用价值。6976
关键词取料机械手圆柱坐标系三自由度   气动驱动 Title   The Design of Automatic Material Taking Manipulator
Abstract
This article describes the design process of reclaimer robot for
universal joint, the robot uses a cylindrical coordinate system, with a
total of three degrees of freedom, using pneumatic drive. First of all,
analyse the workpiece and working conditions to determine the overall
scheme; Second, for each part of the manipulator, respectively, carry out
its structural design, strength check, etc. and use SolidWorks software
to carry out its three-dimensional modeling; Then, analysis of the
manipulator workspace, the manipulator the overall layout, to determine
the relative position of the manipulator and the workpiece; Finally, to
determine the sequence of movement of the manipulator, and animation by
computer simulation of the work process. The robot this project planning
and design is able to accurately complete the movement and positioning
of the workpiece and has a good practical value for reducing labor
intensity and difficulty, improving work efficiency and quality, reducing
production costs.
Keywords reclaimer manipulator   cylindrical coordinate system
three degrees of freedom   pneumatic drive
目录
1 绪论       1
1.1 机械手概述       1
1.2 工业机械手的特点及应用意义    1
1.3 搬运机械手发展状况       3
2 机械手总体设计    · 5
2.1 设计内容与设计要求       5
2.2 十字轴零件       6
2.3 总体方案设计    · 7
2.4 气缸的选择       9
3 机械手结构设计    ·   13
3.1 机械手手部设计    ·   13
3.2 水平伸缩手臂设计       16
3.3 升降手臂设计    · 20
3.4 转动关节及基座设计        22
4 整体布局及工作空间的分析     ·   25
4.1 机械手整体布局    ·   25
4.2 机械手工作空间的分析    ·   29
结论        31
致谢        32
参考文献     ·   33
1 绪论
1.1 机械手概述
机器人(Robot)是现代科学技术发展的必然产物，科技的发展最重要的特征之一工件十字轴取料机械手设计+文献综述:http://www.youerw.com/jixie/lunwen_4726.html