【正文】 The genral stf(1mpoyidvc,uh)0jb。5wT摘 要 機器人是一種人類很早就夢想制造的，具有仿生性而且處處聽命于人的自動化機器 .它可以幫助人們完成很多危險，繁重，重復的體力勞動而進入各種服務領(lǐng)域。歷經(jīng)數(shù)十年的發(fā)展變化，機器人技術(shù)不斷進步和創(chuàng)新，在諸多領(lǐng)域都有著機器廣泛的研究和應用。 仿真技術(shù)是機器人研究領(lǐng)域中的一個重要部分。隨著機器人研究的不斷深入和機器人領(lǐng)域的不斷拓展，機器人仿真系統(tǒng)作為機器人設(shè)計和研究的經(jīng)濟、可靠、靈活方便的工具，發(fā)揮著越來越重要的作用 ,它對于驗證機器人的工作原理、工作空間等具有非常重要的意義 [1]。 通過對機械設(shè)計制造及其自動化 專業(yè)大學本科四年的所學知識進行整合，對工業(yè)機械手各部分機械結(jié)構(gòu)和功能的論述和分析，設(shè)計了一種圓柱坐標形式的數(shù)控機床上下料機械手。重點針對機械手的腰座、手臂、手爪等各部分機械結(jié)構(gòu)以及機械手控制系統(tǒng)進行了詳細的設(shè)計。具體進行了機械手的總體設(shè)計，腰座結(jié)構(gòu)的設(shè)計，機械手手臂結(jié)構(gòu)的設(shè)計，機械手腕部的結(jié)構(gòu)設(shè)計，末端執(zhí)行器（手爪）的結(jié)構(gòu)設(shè)計，機械手的機械傳動機構(gòu)的設(shè)計，機械手驅(qū)動系統(tǒng)的設(shè)計。同時對液壓系統(tǒng)和控制系統(tǒng)進行了理論分析和計算。基于對機械手的控制系統(tǒng)進行了深入細致的設(shè)計，通過對機械手作業(yè)的工藝過程和控制要求的分析 ，設(shè)計了控制系統(tǒng)的硬件電路，同時編制了機械手的控制程序。設(shè)計達到了設(shè)計的預期目標。 關(guān)鍵詞：機械手；液壓伺服定位；機械手控制 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)計目的 .................................................................................................... 1 國內(nèi)外研究現(xiàn)狀和趨勢 ............................................................................ 2 設(shè)計原則 .................................................................................................... 2 第二章 設(shè)計方案的論證 ........................................................................................ 3 機械手的總體設(shè)計 .................................................................................... 3 機械手總體結(jié)構(gòu)的類型 .............................. 3 設(shè)計具體采用方案 .................................. 4 機械手腰座結(jié)構(gòu)的設(shè)計 ............................................................................ 4 機械手腰座結(jié)構(gòu)的設(shè)計要求 ........................................................ 4 設(shè)計具體采用方案 ........................................................................ 5 機械手手臂的結(jié)構(gòu)設(shè)計 ............................................................................ 5 機械手手臂的設(shè)計要求 ................................................................ 5 設(shè)計具體采用方案 ........................................................................ 6 機械手腕部的結(jié)構(gòu)設(shè)計 ............................................................................ 7 機器人手腕結(jié)構(gòu)的設(shè)計要求 ........................................................ 7 設(shè)計具體采用方案 ......................................................................... 8 機械手末端執(zhí)行器（手爪）的結(jié)構(gòu)設(shè)計 ................................................ 8 機械手末端執(zhí)行器的設(shè)計要求 ..................................................... 8 機器人夾持器的運動和驅(qū)動方式 ................................................. 9 機器手夾持器的典型結(jié)構(gòu) ............................................................ 9 設(shè)計具體采用方案 ....................................................................... 10 機械手的機械傳動機構(gòu)的設(shè)計 .............................................................. 11 工業(yè)機器人傳動機構(gòu)設(shè)計應注意的問題 ................................... 11 設(shè)計具體采用方案 ...................................................................... 11 機械手驅(qū)動系統(tǒng)的設(shè)計 .......................................................................... 12 機器人各類驅(qū)動系統(tǒng)的特點 ....................................................... 12 機器人液壓驅(qū)動系統(tǒng) ................................................................... 12 設(shè)計具體采用方案 ...................................................................... 13 機器人手臂的平衡機構(gòu)設(shè)計 .................................................................. 13 機器人平衡機構(gòu)的形式 ............................................................... 14 設(shè)計具體采用的方案 ................................................................... 1