Pro/E+ADAMS两自由度机械臂的设计与分析
摘要机械手臂作为自动化生产过程中使用的一种具有抓取或移动物料、工件功能的自动化装置，它能代替人类完成危险、重复枯燥的工作，减轻人类劳动强度，提高劳动生产率，减少人为因素造成的废次品率。因为机械手臂的研究和开发直接影响到我国自动化生产的提高，从经济上、技术上考虑都是有必要的，所以进行机械手的研究设计非常有意义。论文提出了两自由度机械手臂设计思想和总体设计方案，完成电机选型、控制方案设计以及机电系统建模与仿真。本文使用三维设计软件Pro/E设计机械手的零部件，并使用Pro/E建模，并对其进行调整改进，导入ADAMS进行动力学仿真，使用Matlab进行机电系统联合建模，并对结果进行分析与评价。69373
毕业论文关键词 机械手臂 Pro/E 运动仿真 机电建模
毕业设计说明书外文摘要
Title Design and analysis of a mechanical arm with two degrees of freedom
Abstract
The mechanical arm as an automation device of the process of automated production used used to grab or move materials, workpiece.It can replace human to do dangerous, boring and repetitive work, reduce human labor intensity, improve labor productivity, and reduce the waste caused by defective rate.The research and development of the mechanical arm directly affects the improvement of the automation production in our country, it is necessary to consider both economic and technical, so it is very meaningful to carry out the research and design of the mechanical arm. In this paper, the design idea and the overall design scheme of two degree of freedom manipulator are presented, and the selection of motor, the design of control scheme and the modeling and Simulation of mechanical and electrical system are presented. In this paper, we use the three-dimensional design software pro/E to design the parts of the manipulator, and use the Pro/E modeling , and to adjust and improve. Then put it into the ADAMS to carry out the dynamic simulation, the use of Matlab for mechanical and electrical system modeling. And the results were analyzed and evaluated.
Keywords mechanical arm pro/E dynamic simulation mechanical and electrical system modeling
目 次
1 绪论 1
1.1 机械臂的发展 1
1.2 机械臂的组成、分类、基本形式 1
1.2.1 机械臂的分类 1
1.2.2 机械臂的基本形式 1
2 机械臂的总体设计方案 3
2.1 机械臂的总体设计思想 3
2.2 两自由度机械臂的设计方案 3
2.3 机械臂的用途与设计参数 4
3 两自由度机械臂的三维模型设计 5
3.1 机械臂零件建模 5
3.1.1 机械臂旋转关节模型设计 5
3.1.2 机械臂其他零件三维模型模型 11
3.2 机械臂的虚拟装配 12
4 两自由度机械臂的动力学仿真 14
4.1 Pro/E到ADAMS的传递 14
4.2 两自由度机械臂的动力学仿真分析 14
4.2.1 定义材料属性