【正文】 The genral stf(1mpoyidvc,uh)0jb。5wT摘 要 機(jī)器人是一種人類很早就夢(mèng)想制造的，具有仿生性而且處處聽命于人的自動(dòng)化機(jī)器 .它可以幫助人們完成很多危險(xiǎn)，繁重，重復(fù)的體力勞動(dòng)而進(jìn)入各種服務(wù)領(lǐng)域。歷經(jīng)數(shù)十年的發(fā)展變化，機(jī)器人技術(shù)不斷進(jìn)步和創(chuàng)新，在諸多領(lǐng)域都有著機(jī)器廣泛的研究和應(yīng)用。 仿真技術(shù)是機(jī)器人研究領(lǐng)域中的一個(gè)重要部分。隨著機(jī)器人研究的不斷深入和機(jī)器人領(lǐng)域的不斷拓展，機(jī)器人仿真系統(tǒng)作為機(jī)器人設(shè)計(jì)和研究的經(jīng)濟(jì)、可靠、靈活方便的工具，發(fā)揮著越來(lái)越重要的作用 ,它對(duì)于驗(yàn)證機(jī)器人的工作原理、工作空間等具有非常重要的意義 [1]。 通過(guò)對(duì)機(jī)械設(shè)計(jì)制造及其自動(dòng)化 專業(yè)大學(xué)本科四年的所學(xué)知識(shí)進(jìn)行整合，對(duì)工業(yè)機(jī)械手各部分機(jī)械結(jié)構(gòu)和功能的論述和分析，設(shè)計(jì)了一種圓柱坐標(biāo)形式的數(shù)控機(jī)床上下料機(jī)械手。重點(diǎn)針對(duì)機(jī)械手的腰座、手臂、手爪等各部分機(jī)械結(jié)構(gòu)以及機(jī)械手控制系統(tǒng)進(jìn)行了詳細(xì)的設(shè)計(jì)。具體進(jìn)行了機(jī)械手的總體設(shè)計(jì)，腰座結(jié)構(gòu)的設(shè)計(jì)，機(jī)械手手臂結(jié)構(gòu)的設(shè)計(jì)，機(jī)械手腕部的結(jié)構(gòu)設(shè)計(jì)，末端執(zhí)行器（手爪）的結(jié)構(gòu)設(shè)計(jì)，機(jī)械手的機(jī)械傳動(dòng)機(jī)構(gòu)的設(shè)計(jì)，機(jī)械手驅(qū)動(dòng)系統(tǒng)的設(shè)計(jì)。同時(shí)對(duì)液壓系統(tǒng)和控制系統(tǒng)進(jìn)行了理論分析和計(jì)算?；趯?duì)機(jī)械手的控制系統(tǒng)進(jìn)行了深入細(xì)致的設(shè)計(jì)，通過(guò)對(duì)機(jī)械手作業(yè)的工藝過(guò)程和控制要求的分析 ，設(shè)計(jì)了控制系統(tǒng)的硬件電路，同時(shí)編制了機(jī)械手的控制程序。設(shè)計(jì)達(dá)到了設(shè)計(jì)的預(yù)期目標(biāo)。 關(guān)鍵詞：機(jī)械手；液壓伺服定位；機(jī)械手控制 Abstract The genral stf(1mpoyidvc,uh)0jb。5wTII Title： Hydraulic design of manipulator Abstract Robot is the thing that people want to make a long time ago. It is a automated machine with bionic and take orders from people everywhere. It can help people to plete the many dangerous, heavy, repetitive manual labor and access to various services. After decades of development and change, there is continuous improvement and innovation in robotics, in many areas with extensive research and application. Robot simulation technology is an important part of the field With the further research and the more using of industry robot, the function of Robot Simulation System has bee more and more important as the economical and reliable tool of robot design and study, The Simulation System has a significant, meaning for the verification of the working theory and the working space of robots。 Integrate the knowledge of the past four years’ of undergraduate course of Machine, discuss and analysis the each part and function of manipulator。 design a kind of cylinderical coordinate manipulator used to pack and unload work piece for CNC machine tools. In particular, made the detailed design about base, arm, and end effector and the control system etc. including Total design, waist’s construction design, the arm’s construction design, the wrist’s construction design, the end effector’s construction design, and the drive system of manipulator. At the same time, analysis and pute the hydraulic pressure system and control system. Deeply design the manipulator’s control system. After analysis about the craft process and the requests of the manipulator, the hardware circuit and the control program of the manipulator then is designed. In a word, the design of the manipulator has e to the anticipant object. Keywords： Manipulator； Hydraulic servo control； Manipulator control 目錄 III 目 錄 摘 要 ........................................................................................................................... I Abstract ........................................................................................................................ II 目 錄 ......................................................................................................................... III 第一章 緒 論 ........................................................................................................ 1 選題的背景和意義 .................................................................................... 1 設(shè)計(jì)目的 .................................................................................................... 1 國(guó)內(nèi)外研究現(xiàn)狀和趨勢(shì) ............................................................................ 2 設(shè)計(jì)原則 .................................................................................................... 2 第二章 設(shè)計(jì)方案的論證 ........................................................................................ 3 機(jī)械手的總體設(shè)計(jì) .................................................................................... 3 機(jī)械手總體結(jié)構(gòu)的類型 .............................. 3 設(shè)計(jì)具體采用方案 .................................. 4 機(jī)械手腰座結(jié)構(gòu)的設(shè)計(jì) ............................................................................ 4 機(jī)械手腰座結(jié)構(gòu)的設(shè)計(jì)要求 ........................................................ 4 設(shè)計(jì)具體采用方案 ........................................................................ 5 機(jī)械手手臂的結(jié)構(gòu)設(shè)計(jì) ............................................................................ 5 機(jī)械手手臂的設(shè)計(jì)要求 ................................................................ 5 設(shè)計(jì)具體采用方案 ........................................................................ 6 機(jī)械手腕部的結(jié)構(gòu)設(shè)計(jì) ............................................................................ 7 機(jī)器人手腕結(jié)構(gòu)的設(shè)計(jì)要求 ........................................................ 7 設(shè)計(jì)具體采用方案 ......................................................................... 8 機(jī)械手末端執(zhí)行器（手爪）的結(jié)構(gòu)設(shè)計(jì) ................................................ 8 機(jī)械手末端執(zhí)行器的設(shè)計(jì)要求 ..................................................... 8 機(jī)器人夾持器的運(yùn)動(dòng)和驅(qū)動(dòng)方式 ................................................. 9 機(jī)器手夾持器的典型結(jié)構(gòu) ............................................................ 9 設(shè)計(jì)具體采用方案 ....................................................................... 10 機(jī)械手的機(jī)械傳動(dòng)機(jī)構(gòu)的設(shè)計(jì) .............................................................. 11 工業(yè)機(jī)器人傳動(dòng)機(jī)構(gòu)設(shè)計(jì)應(yīng)注意的問(wèn)題 ................................... 11 設(shè)計(jì)具體采用方案 ...................................................................... 11 機(jī)械手驅(qū)動(dòng)系統(tǒng)的設(shè)計(jì) .......................................................................... 12 機(jī)器人各類驅(qū)動(dòng)系統(tǒng)的特點(diǎn) ....................................................... 12 機(jī)器人液壓驅(qū)動(dòng)系統(tǒng) ................................................................... 12 設(shè)計(jì)具體采用方案 ...................................................................... 13 機(jī)器人手臂的平衡機(jī)構(gòu)設(shè)計(jì) .................................................................. 13 機(jī)器人平衡機(jī)構(gòu)的形式 ............................................................... 14 設(shè)計(jì)具體采用的方案 ................................................................... 1