【正文】 的支持下，也取得了不少成果。美國(guó)發(fā)射到火星上的“索杰納”機(jī)器人就是這種系統(tǒng)成功應(yīng)用的最著名實(shí)例。例如關(guān)節(jié)模塊中的伺服電機(jī)、減速機(jī)、檢測(cè)系統(tǒng)三位一體化 :由關(guān)節(jié)模塊、連桿模塊用重組方式構(gòu)造機(jī)器人整機(jī) 。此類機(jī)械手目前還 不多，但有發(fā)展前途。其主要特點(diǎn)是 :介質(zhì)李源極為方便，輸出力小，氣動(dòng)動(dòng)作迅速，結(jié)構(gòu)簡(jiǎn)單，成本低。格性能范圍內(nèi)，其 動(dòng)作程序是可變的，通過調(diào)整可在不同場(chǎng)合使用，驅(qū)動(dòng)系統(tǒng)和控制系統(tǒng)是獨(dú)立的。 (二 )控制系統(tǒng) 控制系統(tǒng)是支配著工業(yè)機(jī)械手按規(guī)定的要求運(yùn)動(dòng)的系統(tǒng)。滾輪式布為有軌的和無軌的兩種。指數(shù)有雙指式、多指式和雙手雙指式等。 手部 即與物件接觸的部件。因此，在自動(dòng)化機(jī)床的綜合加工自動(dòng)線上，目前幾乎都沒有機(jī)械手，以減少人力和更準(zhǔn)確的控制生產(chǎn)的節(jié)拍，便于有節(jié)奏的進(jìn)行工作生產(chǎn)。為了提高生產(chǎn)加工的工作效率 ,降低成本 ,并使生產(chǎn)線發(fā)展成為柔性制造系統(tǒng) ,適應(yīng)現(xiàn)代自動(dòng)化大生產(chǎn) ,針對(duì)具體生產(chǎn)工藝 ,利用機(jī)器人技術(shù)，設(shè)計(jì)用一臺(tái)裝卸機(jī)械手代替人工工作，以提高勞動(dòng)生產(chǎn)率。機(jī)械手越來越廣泛的得到了應(yīng)用，在機(jī)械行業(yè)中它可用于零部件組裝 ，加工工件的搬運(yùn)、裝卸，特別是在自動(dòng)化數(shù)控機(jī)床、組合機(jī)床上使用更普遍。生產(chǎn)中應(yīng)用機(jī)械手可以提高生產(chǎn)的 自動(dòng)化水平和勞動(dòng)生產(chǎn)率 :可以減輕勞動(dòng)強(qiáng)度、保證產(chǎn)品質(zhì)量、實(shí)現(xiàn)安全生產(chǎn) 。 technology, robot technology has been a prehensive subject which includes puting, control theory, sensor technology, AIT (artificial intelligence technology) and bionics. Robot can be controlled by PLC with feedbacks which can achieve unmanned operation. The research of robot technology is active with wide applications. The applied ratio of robot technology is the most important symbol of the level of industrial automation stately. Robot is not just a replacement of human labor, but great mechanical amp。 畢業(yè)設(shè)計(jì) 設(shè)計(jì)題目 棒料抓裝機(jī)械手的設(shè)計(jì) 1 目 錄 中文摘要 ....................................................................................................................................3 英文摘要 ....................................................................................................................................4 第一章 緒 論 ............................................................................................................................5 工業(yè)機(jī)械手 ....................................................................................................................5 工業(yè)機(jī)械手概述 ........................................................................................................5 選題背景 ..................................................................................................................6 設(shè)計(jì)目的 ..................................................................................................................6 機(jī)械手的組成和分類 .......................................................................................................7 ............................................................................................................7 .......................................................................................................... 10 國(guó)內(nèi)外發(fā)展?fàn)顩r ............................................................................................................ 12 課題的主要要求 ............................................................................................................ 13 第二章 手部結(jié)構(gòu) ...................................................................................................................... 14 手部結(jié)構(gòu)設(shè)計(jì) ............................................................................................................... 14 ....................................................................................................................... 14 ...................................................................................................................... 16 驅(qū)動(dòng)力的計(jì)算 ......................................................................................................... 16 .................................................................................................... 18 兩支點(diǎn)回轉(zhuǎn)式鉗爪的定位誤差的分析 .............................................................................. 18 第三章 腕部 結(jié)構(gòu) ...................................................................................................................... 19 ............................................................................................................. 19 ....................................................................................................................... 19 腕部的結(jié)構(gòu)形式 ...................................................................................................... 19 驅(qū)動(dòng)力矩 的計(jì)算 ...................................................................................................... 20 第四章 臂部的結(jié)構(gòu) ................................................................................................................... 21 臂部設(shè)計(jì)的基本要求 ..................................................................................................... 22 手臂的典型機(jī)構(gòu)以及結(jié)構(gòu)的選擇 ..................................................................................... 23 手臂的典型運(yùn)動(dòng)機(jī)構(gòu) ................................................................................................ 23 手臂運(yùn)動(dòng)機(jī)構(gòu)的選擇 ................................................................................................ 23 手臂直線運(yùn)動(dòng)的驅(qū)動(dòng)力計(jì)算 ........................................................................................... 23 手臂摩擦力的分析與計(jì)算 ......................................................................................... 23 手臂慣性力的計(jì)算 ................................................................................................... 25 密封裝置的摩擦阻力 ................................................................................................ 25 液壓缸工作壓力和結(jié)構(gòu)的確定 ........................................................................................ 26 第五章 機(jī)身的設(shè)計(jì)計(jì)算 ............................................................................................................ 29 2 機(jī)身的整體設(shè)計(jì) ............................................................................................................ 29 機(jī)身回轉(zhuǎn)機(jī)構(gòu)的設(shè)計(jì)計(jì)算 ............................................................................................... 30 機(jī)身升降機(jī)構(gòu)的計(jì)算 ..................................................................................................... 33 手臂偏 重力矩的計(jì)算 ...........................................................