摘要本文内容主要介绍了码垛机械手的概念、码垛机械手的国内外的发展状况及组成、控制及码垛机械手各轴的工作循环原理。对码垛机械手进行总体方案设计，并对码垛机械手进行结构分析、工作空间分析及运动学建模，计算并确定机械手的技术参数。设计计算码垛机械手的升降臂和回转臂结构，对码垛机械手受力分析并对各关节处相应的轴承选型，对码垛机械手驱动系统伺服电机、减速器等各元件的选型计算和选型。

对码垛机械手末端执行器的设计及受力分析，对码垛机械手气动系统进行设计，受力分析及对气压缸等元件选型计算和选型，最后根据码垛机械手的工作要求进行总体控制设计，对码垛机械手控制系统进行任务规划和运动规划，选择合适的控制元件，对整个码垛机械手工作原理进行了了解，从而提高了绘图效率和图纸质量。49891

毕业论文关键词：码垛机械手，末端执行器，控制系统，气缸，伺服电机，减速器。

Abstract This paper mainly introduces the concept of palletizing robot, palletizing robot development at home and abroad and composition, control and each axis palletizing robot work cycle principle. For palletizing robots for the overall program design, and palletizing robot structural analysis, spatial analysis and kinematic modeling work, calculate and determine the technical parameters of the robot. Design calculations palletizing robot lifting arm and swing arm structure, stress analysis for palletizing robot joints and the corresponding bearing selection, drive systems for palletizing robot servo motors, reducers, and other components of the calculation and selection.

For palletizing robot end effector design and stress analysis of the palletizing robot pneumatic system design, stress analysis and other components for pneumatic cylinder sizing and selection, the final palletizing robot according to the work requirements for the overall control design, palletizing robot control system for mission planning and motion planning, choosing the right control element, the entire palletizing robot working principle understanding, thus improving efficiency and drawings drawing quality.

Keywords: palletizing robots, end actuators, control systems, cylinders, servo motors, gear units.

目录

第一章  绪论 1

1.1 码垛机械手概述 1

1.2 国内外发展状况 2

1.3 题的提出 3

第二章  码垛机械手技术参数设计和分配 4

2.1 码垛机械手的组成 4

2.2 课题研究内容 5

2.2.1 课题的主要任务 5

2.2.2 码垛机器手工作参数 5

2.3 码垛机器手各轴的工作循环 7

第3章  码垛机械手运动学分析 11

3.1 码垛机器人任务空间分析 11

3.2 码垛机械手结构分析和运动学建模 11

3.2.1 码垛机械手机构分析 11

3.2.2 机械手运动学建模 13

3.2.3 码垛机械手工作空间分析 18

第四章  码垛机械手动力学分析及电机选型 21

4.1 码垛机械手动态静力学建模 21

4.1.1 码垛机械手受力分析