摘要在当今大规模制造业中，企业为提高生产效率，保障产品质量，普遍重视生产过程的自动化程度，工业机器人作为自动化生产线上的重要成员，逐渐被企业所认同并采用。工业机器人的技术水平和应用程度在一定程度上反映了一个国家工业自动化的水平，。工业机器人的技术水平和应用程度在一定程度上反映了一个国家工业自动化的水平，目前，工业机器人主要承担着焊接、喷涂、搬运以及堆垛等重复性并且劳动强度极大的工作，工作方式一般采取示教再现的方式。89617

本设计介绍了关于工业机器人的一些基本常识和原理，包括工业机器人的组成、分类、主要技术性能参数和工业机器人的运动分析，并参考通用型工业六自由度机器人的结构。根据对工业六自由度机器人的总体结构及传动系统的分析和探讨，进行三自由度工业机器人的结构设计。关键在于三轴（臂）的传动系统的设计以及整体的结构设计，避免运动的干涉，在本次设计中主要负责第一臂与底座的结构设计及其传动原理，对第一臂与底座的各零部件的结构设计。

毕业论文关键词：三自由度； 机器人； 传动原理；控制

Abstract In today's large-scale manufacturing industry, enterprises to increase production efficiency, protection of product quality, generally attach importance to the degree of automation of the production process, industrial robots as an important member of the automated production line, and gradually recognized and adopted by the enterprise。 The technical level and application of industrial robots to a certain extent reflect the level of a country's industrial automation。 The technical level and application of industrial robots reflect the level of industrial automation in a certain country。 At present, industrial robots are mainly engaged in the work of welding, spraying, handling and stacking, etc。, and work with great labor intensity。 Take the way of teaching reproduction。

This design introduces some basic common sense and principles of industrial robots, including the composition, classification, main technical performance parameters of industrial robots and the motion analysis of industrial robots, and refers to the structure of general-purpose industrial six-degree-of-freedom robots。 Based on the analysis and discussion of the overall structure and transmission system of the industrial six - degree - of - freedom robot, the structural design of the three - degree - of - freedom industrial robot is carried out。 The key lies in the design of the three-axis (arm) drive system and the overall structural design, to avoid the interference of movement, in this design is mainly responsible for the first arm and the base of the structural design and transmission principle, the first arm and the base of the The structural design of each component。

Key words: three degrees of freedom; robot; transmission principle; control

目录

 1。 绪论 1

1。1 引言 1

1。2  SCARA机械臂简介 1

1。3 国内外机器人技术研究现状及发展趋势 2

1。4机器人的机构设计与传动技术 3

1。4。1 工业机器人结构设计 3

1。4。2检测传感技术 3

1。5本文的主要研究内容 4

2。 工业机器人机械臂的机械结构设计 6

2。1 工业机器人机械臂的结构设计 6

    2。1。1  SCARA机器人的总体传动方案