【正文】 977 年底，其中一半是國(guó)產(chǎn)，一半是進(jìn)口。聯(lián)邦德國(guó)機(jī)械制造業(yè)是從 1970 年開始應(yīng)用機(jī)械手，主要用于起重運(yùn)輸、焊接和設(shè)備的上下料等作業(yè)。該機(jī)械手的中央 立柱可以回轉(zhuǎn)、升降采用液壓驅(qū)動(dòng)控制系統(tǒng)也是示教再現(xiàn)型。運(yùn)動(dòng)系統(tǒng)仿照坦克炮塔，臂可以回轉(zhuǎn)、俯仰、伸縮、用液壓驅(qū)動(dòng)；控制系統(tǒng)用磁鼓作為存儲(chǔ)裝置。 1958 年美國(guó)聯(lián)合控制 公司研制出第一臺(tái)機(jī)械手。 ADAMS simulation。 Working space。 Mechanical arm movement simulation。 China June 2020 氣動(dòng)指揮機(jī)械手臂設(shè)計(jì) I 摘 要 本文 主要圍繞著氣動(dòng)指揮機(jī)械手臂的設(shè)計(jì)過程進(jìn)行 闡述和分析，文 中主要討論了以下幾個(gè)方面的內(nèi)容：氣動(dòng)指揮機(jī)械手臂的整體設(shè)計(jì)、機(jī)械手臂的 運(yùn)動(dòng)模擬 、氣動(dòng) 系統(tǒng) 回路設(shè)計(jì)、氣動(dòng)元件的選型以及指揮機(jī)械手臂控制部分設(shè)計(jì)。 **** 2020 年 6 月 Bachelor Degree Dissertation No： ****** Design on Mechanical Arm Controlled by Pneumatic Transmission Student: *** Supervisor: *** College: Engineering College Speciality: Mechanical design and manufacture and automatization Direction: Fluid transmission control ******* ***** 關(guān)鍵詞 ：氣動(dòng) 指揮 機(jī)械手臂； ADAMS 仿真；氣動(dòng) 系統(tǒng) 回路設(shè)計(jì)； PLC 控制； 氣動(dòng)指揮機(jī)械手臂設(shè)計(jì) II Design on Mechanical Arm Controlled by Pneumatic Transmission This paper, focusing on the design of pneumatic mand mechanical arm process and analyze. This article mainly discusses the following several aspects of content: Such as The pneumatic mand mechanical arm of the overall design。 Design of mechanical arm mand control section. In the design process presents a new design idea, namely the uncertainty of the various design parameters of personification action on dynamic simulation, robots from simulation experiment of the parameters and the standard required, it will aim at the mechanism arms’ freedom。 The mode of drive. The mechanical arm of the motions of ADAMS software to motion simulation analysis and data collection for sports. In the section of designing the pneumatics’ system, I will design the part of pneumatics in the whole system and choose type of the pneumatics ponents in the next one. The last section about designing of the pneumatic direct manipulator’s control, The arm using the programmable logic controller (PLC) control method to realize the cylinder sequence and cycle. Keywords: pneumatic mand the mechanical arm。 氣動(dòng)指揮機(jī)械手臂設(shè)計(jì) III 目錄 摘 要 ...................................................................... I 英文摘要 .................................................................. II 目錄 ..................................................................... III 1 前言 .................................................................... 1 機(jī)械手的發(fā)展史 ....................................................... 1 現(xiàn)代研究趨勢(shì) ......................................................... 1 國(guó)內(nèi)發(fā)展 狀況 ......................................................... 2 機(jī)械手研究領(lǐng)域 ....................................................... 2 本文主要研究?jī)?nèi)容 ..................................................... 2 2 氣動(dòng)指揮機(jī)械手臂的整體設(shè)計(jì) ................................................ 4 機(jī)械手臂的主要技術(shù)參數(shù)設(shè)計(jì) ........................................... 4 機(jī)械手臂的自由度 ................................................. 4 機(jī)械手臂的工作空間設(shè)計(jì) ............................................... 4 機(jī)械手臂的工作速度 ................................................... 5 機(jī)械手臂的工作載荷 ................................................... 5 機(jī)械手臂的控制方式 ................................................... 5 機(jī)械手臂的驅(qū)動(dòng)方式 ................................................... 5 機(jī)械手臂的精度、重復(fù)精度和分辨率 ...................................... 6 3 機(jī)械手臂的模擬仿真運(yùn)動(dòng) ................................................... 7 ADAMS仿真軟件功能簡(jiǎn)介 ................................................. 7 UG建立實(shí)體模型并導(dǎo)入 ADAMS ........................................ 7 運(yùn)動(dòng)過程仿真 .......................................................... 7 運(yùn)動(dòng)仿真參數(shù)分析 ..................................................... 11 4 氣動(dòng)回路設(shè)計(jì) ............................................................ 18 通過對(duì)運(yùn)動(dòng)狀態(tài)的模擬設(shè)計(jì)相應(yīng)的氣動(dòng)回路 ............................... 18 對(duì)氣壓傳動(dòng)系統(tǒng)的分析 ................................................ 19 氣源的處理 ...................................................... 19 壓縮空氣驅(qū)動(dòng)氣缸活塞桿運(yùn)動(dòng)過程 .................................. 20 5 氣動(dòng)元件的選型 .......................................................... 21 對(duì)運(yùn)動(dòng)氣缸的選型 .................................................... 21 對(duì) A缸的選取 .................................................... 21 氣動(dòng)指揮機(jī)械手臂設(shè)計(jì) IV 對(duì) B缸的選取 .................................................... 21 對(duì) C缸的選取 .................................................... 22 對(duì) D缸的選取 .................................................... 23 對(duì) E缸的選取 .................................................... 23 對(duì)電磁換向閥進(jìn)行選型 ................................................ 23 對(duì)氣壓的要求 ....