【正文】 I摘 要隨著機器人在各個領(lǐng)域應(yīng)用的日益廣泛，許多場合要求機器人具有力控制的能力。此次設(shè)計是針對回轉(zhuǎn)殼體內(nèi)自動粘貼膠片的任務(wù)，設(shè)計一個 3—DOF 平面關(guān)節(jié)型機械手（包括 1 個移動關(guān)節(jié)，2 個轉(zhuǎn)動關(guān)節(jié)和末端執(zhí)行機構(gòu)） ，配合殼體驅(qū)動系統(tǒng)來實現(xiàn)此任務(wù)。在機械手工作過程中，通過伺服電機帶動絲杠轉(zhuǎn)動，從而來完成機械手水平方向的移動，旋轉(zhuǎn)關(guān)節(jié) 1 通過鏈傳動來完成平面內(nèi)的旋轉(zhuǎn)動作，旋轉(zhuǎn)關(guān)節(jié) 2 直接在伺服電機的驅(qū)動下完成平面內(nèi)的旋轉(zhuǎn)動作，這樣機械手可以伸入口徑較小的回轉(zhuǎn)殼體內(nèi)完成粘貼膠片的任務(wù)。本次設(shè)計工作首先對機械手進行了運動學(xué)分析（包括運動學(xué)方程的建立，運動學(xué)方程的正問題、逆問題及其解） 。設(shè)計內(nèi)容包括機械手的移動關(guān)節(jié)、旋轉(zhuǎn)關(guān)節(jié)的結(jié)構(gòu)設(shè)計，傳動部分的設(shè)計等。其中，重點是對伺服進給系統(tǒng)的設(shè)計（包括工作臺的設(shè)計，絲杠的設(shè)計，直線導(dǎo)軌、伺服電機和減速器的選取等） 。最后對系統(tǒng)中主要部件的剛度、強度等性能參數(shù)進行了計算與校核。關(guān)鍵詞：機械手；自由度；運動學(xué)分析；伺服電機；直角減速器IIAbstractWith the increasing application of robot in various industrial fields, it is requested that robot has the ability to control power. According to the contact task of rotary hull, a 3DOF robot manipulator is designed in order to acplish sticking of the colloid. The robot manipulator consists of a transfer joint and two revolute joints and robot endeffector. The robot manipulator could realize the contacting task bining with the driving system of rotary hull. The concrete processing prising of driving screw transmission with the servo motor. In this way, robot manipulator could plete movement in horizontal direction, the revolute joint could be able to acplish revolute motion of two dimensionspace through a chain driving, the revolute joint of endeffector pletes directly revolute motion with the servo motor.Firstly, this design has been carried on the kinematics’ analysis in order to the manipulator, which consists of including the establishment of kinematics equation, the positive solutions of the kinematics equation, the corresponding inverse solutions. Secondly, the transfer joint, revolute joint and the transmission part are designed. The important part is the design of servo feeding system, which consists of the design of the platform and the screw, the selection of linear guide way, servo motor and reducer, etc. Finally, the corresponding calculations are done considering the system39。s main guide line such as ponents stiffness, strength and other performance parameters.Keywords: Robot manipulator；Freedom ；Kinematics analysis；Servo motor；Rightangle reducerIII目 錄1 引言 .......................................................................................................................................1 課題背景和意義 .............................................................................................................1 國內(nèi)外研究現(xiàn)狀 .............................................................................................................1 工業(yè)機械手的用途 .........................................................................................................32 機械手結(jié)構(gòu)的總體方案設(shè)計 ...............................................................................................4 課題的主要內(nèi)容 .............................................................................................................4 課題的研究方案 .............................................................................................................4 機械手結(jié)構(gòu)的總體設(shè)計 .................................................................................................4 主要技術(shù)指標設(shè)計 ..................................................................................................4 機械手的結(jié)構(gòu)設(shè)計 ..................................................................................................43 機械手運動學(xué)分析 ...............................................................................................................6 機械手運動學(xué)方程的建立 .............................................................................................6 運動學(xué)方程的正解 .........................................................................................................7 運動學(xué)方程的逆解 .........................................................................................................84 傳動裝置的 設(shè)計 .................................................................................................................10 伺服電機及減速器的選擇 ...........................................................................................10 機電領(lǐng)域中伺服電機的選擇原則 ........................................................................10 旋轉(zhuǎn)關(guān)節(jié)驅(qū)動電機及減速器的選擇 ....................................................................10 鏈輪的設(shè)計及鏈條的選擇 ...........................................................................................11 滾子鏈傳動的設(shè)計 ................................................................................................11 鏈輪的設(shè)計 ............................................................................................................13 滾子鏈的靜強度計算 ............................................................................................14 鏈傳動的張緊 ........................................................................................................15 鏈傳動的潤滑 ........................................................................................................155 軸的設(shè)計與驗算 .................................................................................................................16 軸的結(jié)構(gòu)設(shè)計 ...............................................................................................................16IV 選擇軸的材料 ........................................................................................................16 初步估計軸徑 ........................................................................................................17 軸的校核 .......................................................................................................................186 軸上零件的選擇與計算 .....................................................................................................25 鍵的選擇與鍵聯(lián)接強度校核 .......................................................................................25 大臂末端電機軸上鍵的選擇與校核 ....................................................................25 軸上矩形花鍵的選擇與校核 ................................................................................26 小臂電機軸上鍵的選擇與校核 ........................................