【正文】 遼寧科技大學(xué)本科畢業(yè)設(shè)計(jì) 第 I 頁(yè) 直角坐標(biāo)機(jī)器人 結(jié)構(gòu)設(shè)計(jì) 摘要 隨著現(xiàn)代工業(yè)的不斷發(fā)展，不但使傳統(tǒng)工業(yè)的生產(chǎn)發(fā)生了根本性的變化，而且也對(duì)人類社會(huì)的生產(chǎn)產(chǎn)生了重大的影響。機(jī)器人作為現(xiàn)代工業(yè)生產(chǎn)的一種工具，不僅大大的提高了生產(chǎn)力，而且把人從各種生產(chǎn)環(huán)境中解放出來(lái)。目前，許多國(guó)家的工業(yè)機(jī)器人技術(shù)得到很好的發(fā)展，我國(guó)也在進(jìn)行深入的研究和開發(fā)。本文主要是設(shè)計(jì)一個(gè)搬運(yùn)工件的直角坐標(biāo)機(jī)器人，它可以應(yīng)用在自動(dòng)化生產(chǎn)線上與人工相比具有速度快、定位精度準(zhǔn)確的特點(diǎn)，具有很強(qiáng)的實(shí)用性能 。作為直角坐標(biāo)機(jī)器人結(jié)構(gòu)設(shè)計(jì)，本文 用了第二、三、 四章詳細(xì)闡述了設(shè)計(jì)過(guò)程，第五章簡(jiǎn)要介紹了機(jī)器人的控制部分，第六 對(duì)機(jī)器人進(jìn)行了效果分析，并總結(jié)了直角坐標(biāo)機(jī)器人的特點(diǎn)。設(shè)計(jì)不拘泥于常規(guī)，使產(chǎn)品具有更廣闊的發(fā)展空間，必將成為機(jī)器人的發(fā)展趨勢(shì)。 關(guān)鍵詞 ： 直線、直角坐標(biāo)機(jī)器人、結(jié)構(gòu) 遼寧科技大學(xué)本科畢業(yè)設(shè)計(jì) 第 II 頁(yè) Cartesian Robot Design Abstract With the continuous development of modern industry,not only the production of traditional industries has undergone a fundamental change, but also the production of human society has had a major impact. Robot as a tool of modern industrial production, not only greatly increase the productivity and the production environment from a variety of liberation. Currently, many countries have very good industrial robot technology development, China is also indepth research and development. Porters of this paper is to design a piece of the Cartesian coordinate robot, which can be used in automated production lines and artificial pared to fast, accurate positioning accuracy characteristics,with strong practical the design of the rightangle coordinate robot,the text uses the second the third and the forth chapters to say the process of the five chapter briefly describes some of the robot39。s control. The sixth chapters carried out effectiveness analysis and summarizes the characteristics of a Cartesian coordinate design makes the products have much more development,which must be the current of robot39。s development. Key words: Straight line Cartesian coordinate Structure 遼寧科技大學(xué)本科畢業(yè)設(shè)計(jì) 第 III 頁(yè) 目 錄 摘要 ............................................................................................................................................ I Abstract .................................................................................................................................... II 一 緒 論 ................................................................................................................................. 1 選題背景 ...................................................................................................................... 1 直角坐標(biāo)機(jī)器人的應(yīng)用及分類 .................................................................................. 1 當(dāng)前機(jī)器人技術(shù)的發(fā)展 .............................................................................................. 2 ........................................................................................... 2 ........................................................................... 4 選題的意義和目的及設(shè)計(jì)基本步驟 .......................................................................... 5 本文研究的主要內(nèi)容 .................................................................................................. 5 二 直角坐標(biāo)機(jī)器人的工作原理 ..................................................................................... 7 實(shí)現(xiàn)三個(gè)自由度運(yùn)動(dòng)的基本原理 .............................................................................. 7 末端執(zhí)行器抓取工件的基本原理 .............................................................................. 7 ................................................................................................................... 7 原理 ................................................................................... 8 三 直角坐標(biāo)機(jī)器人結(jié)構(gòu)設(shè)計(jì) ........................................................................................ 10 直角坐標(biāo)機(jī)器人外形方案的確定 ............................................................................ 10 ................................................................. 10 ................................................................. 11 直角坐標(biāo)機(jī)器人外形尺寸的確定 ............................................................................ 11 傳動(dòng)部件、驅(qū)動(dòng)部件類型及主要參 數(shù)的選擇 ........................................................ 12 ..................................................................................... 12 ............................................................................................. 19 其它輔助部件的設(shè)計(jì) ................................................................................................ 22 ............................................................................................. 22 ............................................................................................. 23 ......................................................................................... 24 ............................................................................................. 24 機(jī)械手結(jié)構(gòu)設(shè)計(jì) ........................................................................................................ 24 ......................................................................................... 24 ..................................................................... 25 ................................................................................. 25 ................................................................................. 26 ............................................................................... 26 四 機(jī)器人的校核及結(jié)構(gòu)的可靠性分析 ..................................................................... 27 遼寧科技大學(xué)本科畢業(yè)設(shè)計(jì) 第 IV 頁(yè) 軸承的校核 ................................................................................................................ 27 各主要功能部件的可靠性分析 ................................................................................ 27 各自由度間連接件的可靠性分析 ............................................................................ 28 軸的校核計(jì)算 ............................................................................................................ 29 五 機(jī)