摘要本文设计了一种三维扫描仪手臂式支架，主要特点是具有六个自由度，整体结构紧凑，轻便灵活。根据任务书要求，明确所需机械臂的功能及结构布局，确定了机械臂总体设计方案及各部分机构形式。根据工作情况选择机械臂驱动方式，确定机械臂各关节的传动方案，并对机械臂主要关键部位进行了强度校核，验证了该机械臂结构的可靠性。运用三维建模软件Solidworks实现机械臂整体结构的实体建模，清晰地表示了机械臂的整体造型以及各部件装配关系。根据D-H方法建立了机械臂的数学模型，并进行正向运动学分析，结果显示正运动学方程的最终位置矩阵与坐标系位置一致。运用ADAMS对三维扫描仪机械臂建立虚拟样机模型，定义仿真所需的运动副和驱动，设置好驱动函数以及仿真时间和步数进行机械臂模型的运动学仿真，得到了机械臂末端的轨迹曲线，验证了驱动函数的正确性，为后期轨迹优化打下基础。通过分析机械臂末端的位移时间变化图，验证了该机械臂的工作空间满足设计要求。81928

毕业论文关键词：机械臂；结构设计；运动学；三维建模

Abstract This paper is main to design a manipulator for one three-dimensional scanner which has six degrees of freedom and compact structure and be with flexibility。Determine the overall design scheme of the manipulator and the forms of the various mechanisms depending on the desired properties and structural requirements of the manipulator。 According to the working condition, the driving scheme of each joint of the manipulator should be determined, and the strength of the main parts of the manipulator is checked。The reliability of the structure of the manipulator is verified。Using 3D modeling software Solidworks to realize the solid modeling of the overall structure of the manipulators。It is clear that the overall shape of the manipulator arm and the relationship between the components of the assembly。According to the D-H method, the mathematical model of the manipulator can be established, and the forward kinematics analysis is carried out。The result of the positive kinematics equation is consistent with the position of the coordinate system。Using ADAMS to establish the virtual prototype model of the manipulator solid model introduced from Solidworks。Firstly,define the required motion pairs and drive。Secondly,set up the driving function and the simulation time and number of steps to carry out the kinematics simulation of the manipulator。The results verify the correctness of the drive function, and lay the foundation for the later trajectory optimization。The trajectory curve of the end of the manipulator is obtained。By analyzing the time variation of the displacement of the end of the manipulator, the working space of the manipulator is verified to meet the design requirements。

Keywords:manipulator; structural design;kinematics;three-dimensional modeling

目  录

第一章 绪论 1

1。1研究背景及意义 1

1。2国外研究现状 1

1。3国内研究现状 2

1。4发展趋势 2

1。5 本文研究内容 2

第二章 机械臂需求分析及总体方案设计 4

2。1 机械臂设计需求分析 4

2。1。1 需求分析 4

2。1。2 三维扫描仪的选型 4

2。2 机械臂的总体方案设计 5

2。2。1 整体结构