delta并联机器人机构设计
摘要近些年，delta机器人越来越得到大多数人的关注，并逐渐开始在工业上得到成熟的应用。与串联机器人相比，并联机器人有很大优势。其中之一就是可以把电机固定在基座上，这样就可以减轻运动机构上的重量。并联机器人的另一个优点就是他的刚度很高，可以得到更精准和更快的操作。63218
在本文中，首先介绍了本课题的研究背景和意义，并对目前机器人的发展现状、发展趋势及其所遇到的研究瓶颈进行了阐述，同时就目前的研究现状提出自己的看法。在此基础之上，展望一下并联机器人的发展前景和发展趋势。
其次， 阐述了并联机器人的总体机构设计方案，详细列举了各个零部件的设计和选型，并给出了并联机器人的总体装配图和局部零件的装配图及分解图。
然后通过对并联机器人进行运动学的分析，详细列举了并联机器人的运动学正反解。同时，对并联机器人进行了运动空间的计算以及静力学的分析。
最后对并联机器人的零部件进行选取和设计，针对重要的受力零部件，对其进行详细的受力分析和理论校核。
毕业设计说明书（论文）外文摘要
Title Parallel Robot Mechanism Design
Abstract: In recent years, delta robot has increasingly gained attention of most people, and gradually began to mature in industry applications. Compared with the serial robot, parallel robot has a great advantage. One of them is that the motor can be fixed to the base, so that it can reduce the weight of the machine body. Therefore, the parallel robot is ideal for directly driving situations. Another advantage of parallel robot is his stiffness is high, these characteristics can get higher accuracy and faster operation.
In this paper, first introduced the research background and significance, and the current development status of the robot, trends and bottlenecks encountered in research are described. Meanwhile on the current status of research to present My own views. On this basis, to look ahead at prospects for the development of parallel robot and trends.
Secondly, explains the overall parallel robot mechanism design, detailed the various parts of the design and selection, and gives the general assembly drawing parallel robot and local parts of the assembly drawings and exploded view.
Then through the parallel robot kinematics analysis, detailed lists of parallel kinematics inverse solution. Meanwhile, the movement of the parallel robot space calculations and statics analysis.
Finally, selecting and designing the parallel robot parts. For critical components of the force, its detailed stress analysis and theoretical checked.
Keywords: robot, mechanical design, location inverse solution
1 绪论 1
1.1 本课题的背景 1
1.2 相关技术研究现状分析 1
1.3 发展趋势 2
2 并联机器人机构方案总体设计 3
2.1 并联机器人机构方案的拟定 3
2.2 并联机器人总的装配图 4
2.3 并联机器人静平台的设计 4
2.4 减速器与主动杆之间的轴及轴上零件的设计 5
2.5 主动杆的设计 6
2.6 主动杆与从动杆之间的轴的设计