【正文】 , a HRobot implements 3 systems screws (1) / nut (2) with a large pitch , which allow rapid movements. It is hold by bearings (6) and animated by the actuators M. Three planar hinged parallelograms, on both sides (4) and at the center (5) make the connection from the nuts to the horizontal platform (3). The stand (7) supports the whole structure (fig 2).The side screws permit rotation and translation along their axes. The central nut does not allow the rotation of the parallelogram plane about the screw axis.The mobile platform can only translate with 3 degrees of freedom inside the working space which may be assimilated to a halfcylinder.The main advantage of this device is that the working volume is directly proportional to the length of the parallel axes and it can be made considerably large.The Prism Robot Sliding pairs P of good quality are available in the industry of mechanical ponents. A parallelogram employs four revolute pair R to generate a one degree of freedom translation motion. Therefore, the idea of implementing prismatic pairs instead of parallelograms (StarRobot) seems to be an economic hint for a new robot design. Various geometric arrangements of three sequences CPR can be imagined (the cylindric pair C may be replaced by RP in order to make up an electric jack). The axis of C have to be parallel to the R axis in each sequence. The direction of P pair may be anyone. A selected sketch is the PrismRobot of figure 3. Two fixed electric jacks are coaxial. A third fixes electric jack is perpendicular. For practical manipulators, these axes will be horizontal. Two prismatic pair are inclined with the angle 45186。{C(N,u)} 沿軸平移的組合旋轉(zhuǎn)裝置.(N,u){t} 空間的平移。其機(jī)械性能的日益增加和制造費(fèi)用的降低用使得機(jī)器人在當(dāng)今工業(yè)制造中越來(lái)越具有吸引力。兩固定電動(dòng)千斤頂是同軸的。這裝置的主要優(yōu)點(diǎn)是那工作空間是直接與平行軸長(zhǎng)度成比例，能得到一個(gè)較大工作空間。教授的指導(dǎo)下于法國(guó)“IUT de Ville D’Avray”完成的。為了避免這種工作空間的限制，對(duì)偶此裝置安裝具有平行軸的電動(dòng)千斤頂。每條機(jī)械臂，第一個(gè)2對(duì)偶,即同軸旋轉(zhuǎn)對(duì)偶和螺旋對(duì)偶組成固定機(jī)器人的固定部分，同時(shí)形成處于相同平面的軸的機(jī)械結(jié)構(gòu)，將其分為三個(gè)相同部分，從而形成了Y行狀。P，R或H的任何系列組成群組{X (w)}生成元的對(duì)偶的空間平移都能被實(shí)現(xiàn)。實(shí)際上棱柱對(duì)偶和旋轉(zhuǎn)對(duì)偶P,R,H都用于構(gòu)造機(jī)器人(圓柱體對(duì)偶C以緊湊的方式結(jié)合棱柱對(duì)偶和旋轉(zhuǎn)對(duì)偶)。此表達(dá)式相當(dāng)于仿射的直接歸一正交變換。假設(shè)理論在假設(shè)群論的框架內(nèi),我們將用于補(bǔ)償李代數(shù)的微元變換與通過(guò)其前面冪運(yùn)算得到的有限運(yùn)算結(jié)合起來(lái)。根據(jù)這個(gè)理論，如果我們能夠證明群{D}包含所有的可能的位移，那么{D}就具有群結(jié)構(gòu)。參考文獻(xiàn)[1]吳宗澤,：高等教育出版社，2004[2]：化學(xué)工業(yè)出版社，2002[3]：機(jī)械工業(yè)出版社，2002[4]陸振曦，：中國(guó)輕工業(yè)出版社，2001[5]盧耀祖，：同濟(jì)大學(xué)出版社，2004[6]：高等教育出版社，2003[7]：中國(guó)輕工業(yè)出版社，1998[8]蔣迪清，：華南理工大學(xué)出版社，2003[9]：中國(guó)輕工業(yè)出版社，1998附錄：并聯(lián)位移機(jī)器人的設(shè)計(jì)Jacques ECELE CENTRALE PARIS92295 CHATENAY MALABRY CEDEXFRANCE摘要:本文目的是對(duì)偶具有人性化機(jī)器人的應(yīng)用做一個(gè)完全的介紹,并將著重討論并行機(jī)器人特別是那些能夠進(jìn)行空間平移的機(jī)器人。3．設(shè)計(jì)采用二級(jí)減速器，這樣提高了出油效率。（2）驗(yàn)算軸承壽命 Lh== h Lh′=5000h （）故所選軸承為圓錐滾子軸承32306 ,滿足壽命要求 。I軸 ：d=30 mm 處選用普通平鍵鍵寬b鍵高h(yuǎn) bh =87 . 鍵L , L1=25mm,L2=56mm,軸深度 t= mm（2）鍵的校核計(jì)算假定載荷在鍵的工作面上均勻分布，普通平鍵連接的強(qiáng)度條件為σp=2T103/(kld) ≤[σp ] （）T傳遞的轉(zhuǎn)矩為 T=104 N120176。 i=n1/n2 imax ,查設(shè)計(jì)手冊(cè)得i=3 ，則n2=。z1)/2= mm 頂隙 c=c*m=3= :軸的選用及強(qiáng)度計(jì)算和校核（1）.材料: 軸主要用碳鋼,本設(shè)計(jì)從經(jīng)濟(jì)實(shí)用角度選用45鋼.（2）.熱處理: 高頻淬火,表面強(qiáng)化處理噴丸,提高軸的抗疲勞強(qiáng)度,45鋼熱處理調(diào)質(zhì) .軸表面淬火處理: 使淬硬層耐磨.（3）.工作條件: 淬硬層深度 ~ mm.（4）.軸肩高度 a=(~)d (d為軸的直徑,軸環(huán)寬度b=)(1)按扭轉(zhuǎn)強(qiáng)度初定軸徑τT=T/wT=106p/( )≤[τT] （）其中 [τT] 為扭轉(zhuǎn)切應(yīng)力,單位是 Mpa.軸45鋼 [τT]=25~45 Mpa A0=126~103 mm3（5）.軸的直徑d≥= （） 式中取A0=105 mm3軸傳遞的功率 p=4 kw,軸的轉(zhuǎn)速 n= r/min∴d≥= mm對(duì)于直徑d≤100 mm的軸,有一個(gè)鍵槽時(shí),軸徑增大5%~7%,為將軸徑圓整為標(biāo)準(zhǔn)直徑, d=60 mm, L=60 mm,( L長(zhǎng)系列60 mm,短系列42 mm) 。2：確定小齒輪的齒形參數(shù) 標(biāo)準(zhǔn)直齒圓柱齒輪幾何尺寸：① 分度圓直徑d :d1=mz1=326=78 mmd2=mz2=359=177 mm② 齒頂高h(yuǎn)aha=ha*m=13=3 mm③ 齒根高 hf=(ha*+c*)m=(1+)3= mm④ 齒全高 h=ha+hf =(2ha*+c*)m=3+= mm⑤ 齒頂圓直徑 da1=d1+2ha=(z1+2ha*)m=78+23=84 mmda2=d2177。mm③. 齒寬系數(shù)φd=1④. 由表查得材料的彈性影響系數(shù)ZE= Mpa1/2⑤. 由圖冊(cè)按齒面硬度查得：小齒輪的接觸疲勞強(qiáng)度極限：σHlim1= 650 MPa大齒輪的接觸疲勞強(qiáng)度極限：σHlim2= 550 Mpa⑥. 由公式計(jì)算應(yīng)力循環(huán)次數(shù)N1 = 60 n1jLh = 601( 2830010) = 109N2 =109⑦. 接觸疲勞系數(shù) KHN1= ，KHN2=⑧. 計(jì)算接觸疲勞許用應(yīng)力取失效概率為 1%，安全系數(shù)為 S=1，[σH]1 =KHN1 榨螺螺紋平均直徑上的開(kāi)口角 榨螺編號(hào)123開(kāi)口角r823(5)榨螺空腔容積計(jì)算 一號(hào)榨螺的空腔容積 已知：D——榨螺內(nèi)徑 D=D+5=80mm， D——榨螺外徑 D=75mm D——榨螺底徑 D=50mm t——螺距 t=100mm， r——螺紋開(kāi)口角 r=8176。(3)榨螺齒形錐形根圓榨螺　　榨螺齒形尺寸α＝０～30176。 曲線1為一次壓榨，曲線2預(yù)榨（適合于高油份）。其結(jié)構(gòu)簡(jiǎn)單，操作方便，機(jī)架的受力能在運(yùn)轉(zhuǎn)中調(diào)節(jié)，但芯軸的軸2頭易損壞。按最后定型的零件工作圖上的結(jié)構(gòu)及尺寸，繪制部件裝配圖及總裝配圖。（2） 零部件的工作能力設(shè)計(jì)已知主要零部件所受的公稱(chēng)載荷的大小和特性，即可做零部件的初步設(shè)計(jì)。3：準(zhǔn)備階段在根據(jù)生產(chǎn)或生活的需要提出所要設(shè)計(jì)的新機(jī)器后，計(jì)劃階段只是一個(gè)預(yù)備階段。因此，預(yù)榨浸出法生產(chǎn)對(duì)軋胚的要求沒(méi)有一次浸出生產(chǎn)那么嚴(yán)格，可以避免軋薄胚所增加的電能消耗和設(shè)備磨損。取油一般分為三段：1進(jìn)料端，2 主壓榨段，3成餅段。浸出油是用化學(xué)溶劑浸泡油料，再經(jīng)過(guò)復(fù)雜的工藝提煉而成，提煉過(guò)程中流失了油品的營(yíng)養(yǎng)成分，而且有化學(xué)溶劑的有毒物質(zhì)殘留。還要對(duì)整個(gè)設(shè)計(jì)重要部件做出校核，能夠讓機(jī)器正常運(yùn)作。23：帶傳動(dòng)的設(shè)計(jì)計(jì)算 25 25 28第五章 各軸承及鍵的選擇及有關(guān)校核 291:鍵的選擇設(shè)計(jì) 292：軸承的設(shè)計(jì) 303：滾動(dòng)軸承的選擇 31第六章 結(jié)束語(yǔ) 33附錄： 35螺旋式壓榨機(jī)的設(shè)計(jì) 摘要：螺旋榨油機(jī)過(guò)去是現(xiàn)在仍然是油脂生產(chǎn)中的一臺(tái)主機(jī)。關(guān)鍵詞： 榨油機(jī)；榨籠；；生產(chǎn)量；校核 The design spiral presser Abstract： Screw press in the past and is still oil production in a host. Leaching in the modern legal system is the oil panies of most of the high fuel oil were used or prepress leaching method to prepare the oil, so prepress machine oil screw press is still important ponents of industrial production. Screw press of the structure of a direct impact on oil production quantity and quality. The press of work is the screw axis and the pressing part of the cage structure, material embryo axis and squeezed This text through the spiral space between the cage bombing bore, and being squeezed. So they press of the heart, which directly affects the structure of oil press performance. In this paper, the information about press machine, and then pared presser structure, design its structure, the screw design is the design of the main body, squeezing through on the amount of substance and production are constant, obtained screw design process, This text slow down the drive with two transmission, the machine operates in a stable. On machine power, torque, and finally set the motor. Also an important part of the whole design and make check, allowing the normal operation of the mac