【正文】 遼寧科技大學本科畢業(yè)設計 第 I 頁 直角坐標機器人 結構設計 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)的生產發(fā)生了根本性的變化，而且也對人類社會的生產產生了重大的影響。機器人作為現(xiàn)代工業(yè)生產的一種工具，不僅大大的提高了生產力，而且把人從各種生產環(huán)境中解放出來。目前，許多國家的工業(yè)機器人技術得到很好的發(fā)展，我國也在進行深入的研究和開發(fā)。本文主要是設計一個搬運工件的直角坐標機器人，它可以應用在自動化生產線上與人工相比具有速度快、定位精度準確的特點，具有很強的實用性能 。作為直角坐標機器人結構設計，本文 用了第二、三、 四章詳細闡述了設計過程，第五章簡要介紹了機器人的控制部分，第六 對機器人進行了效果分析，并總結了直角坐標機器人的特點。設計不拘泥于常規(guī)，使產品具有更廣闊的發(fā)展空間，必將成為機器人的發(fā)展趨勢。 關鍵詞 ： 直線、直角坐標機器人、結構 遼寧科技大學本科畢業(yè)設計 第 II 頁 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 遼寧科技大學本科畢業(yè)設計 第 III 頁 目 錄 摘要 ............................................................................................................................................ I Abstract .................................................................................................................................... II 一 緒 論 ................................................................................................................................. 1 選題背景 ...................................................................................................................... 1 直角坐標機器人的應用及分類 .................................................................................. 1 當前機器人技術的發(fā)展 .............................................................................................. 2 ........................................................................................... 2 ........................................................................... 4 選題的意義和目的及設計基本步驟 .......................................................................... 5 本文研究的主要內容 .................................................................................................. 5 二 直角坐標機器人的工作原理 ..................................................................................... 7 實現(xiàn)三個自由度運動的基本原理 .............................................................................. 7 末端執(zhí)行器抓取工件的基本原理 .............................................................................. 7 ................................................................................................................... 7 原理 ................................................................................... 8 三 直角坐標機器人結構設計 ........................................................................................ 10 直角坐標機器人外形方案的確定 ............................................................................ 10 ................................................................. 10 ................................................................. 11 直角坐標機器人外形尺寸的確定 ............................................................................ 11 傳動部件、驅動部件類型及主要參 數(shù)的選擇 ........................................................ 12 ..................................................................................... 12 ............................................................................................. 19 其它輔助部件的設計 ................................................................................................ 22 ............................................................................................. 22 ............................................................................................. 23 ......................................................................................... 24 ............................................................................................. 24 機械手結構設計 ........................................................................................................ 24 ......................................................................................... 24 ..................................................................... 25 ................................................................................. 25 ................................................................................. 26 ............................................................................... 26 四 機器人的校核及結構的可靠性分析 ..................................................................... 27 遼寧科技大學本科畢業(yè)設計 第 IV 頁 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 軸的校核計算 ............................................................................................................ 29 五 機