【正文】 本課題達(dá)到的要求 本次設(shè)計的液壓傳動機(jī)械手根據(jù)規(guī)定的動作順序，綜合運(yùn)用所學(xué)的基本理論、基本知識和相關(guān)的機(jī)械設(shè)計專業(yè)知識，完成對機(jī)械手的設(shè)計，并繪制必要裝配圖、液壓系統(tǒng)圖。它不僅能為我國的經(jīng)濟(jì)建設(shè)帶來高度的生產(chǎn)力和巨大的經(jīng)濟(jì)效益，而且將為我國的宇宙開發(fā)、海洋開發(fā)、核能利用等新興領(lǐng)域的發(fā)展做出卓越的貢獻(xiàn)。 全套設(shè)計（圖紙）請聯(lián)系 174320523 各專業(yè)都有 （ 4）．機(jī)器人中的傳感器作用日益重要，除采用傳統(tǒng)的位置、速度、加速度等傳感器外，裝配、焊接機(jī) 器人還應(yīng)用了視覺、力覺等傳感器，多傳感器融合配置技術(shù)在產(chǎn)品化系統(tǒng)中已有成熟應(yīng)用。從而改善人們的勞動條件，顯著的提高勞動生產(chǎn)率，加快實現(xiàn)工業(yè)生產(chǎn)機(jī)械化和自動化的步伐。比如自動生產(chǎn)線、自動機(jī)的上下給料系統(tǒng)，加工中心自動化裝置 [1]。 本次設(shè)計的液壓傳動機(jī)械手根據(jù)規(guī)定的動作順序，綜合運(yùn)用所學(xué)的基本理論、基本知識和相關(guān)的機(jī)械設(shè)計專業(yè)知識，完成對機(jī)械手的設(shè)計，并繪制必要裝配圖、液壓系統(tǒng)圖、。機(jī)械工業(yè)是國民的裝備部，是為國民競技提供裝備和為人民生活提供耐用消費(fèi)品的產(chǎn)業(yè)。 液壓機(jī)械手是一種模 仿人體上肢部分功能，按照預(yù)定要求輸送工件或者握持工具進(jìn)行操作的自動化技術(shù)設(shè)備，它可以代替手的繁重勞動，改善勞動條件，提高勞動生產(chǎn)率和自動化水平。 機(jī)械結(jié)構(gòu)的分析，根據(jù)要求設(shè)計出合理輕便的機(jī)械手。 關(guān)鍵詞 ： 機(jī)械手；液壓；控制回路 全套設(shè)計（圖紙）請聯(lián)系 174320523 各專業(yè)都有 Abstract Hydraulic robot mimic is the hand movements which in accordance with a given program, the path through the hydraulic system to achieve automatic device to capture and handling operations. The design of hydraulic drive manipulator movements under the provisions of the order ， use the basic theory, basic knowledge and related mechanical design expertise prehensively to plete the design， and drawing the necessary assembly, hydraulic system map, PLC control system diagram . Manipulator mechanical structure using tanks, screw ,guide tubes and other mechanical device ponent ； In the hydraulic drive bodies ， manipulator arm stretching using telescopic tank ， rotating column of tanks used rack ， manipulator movements using tank movements ， the column takes the horizontal movement of tanks ； through the control of the solenoid valve to control the switch manipulator corresponding moves cycle ， after press the row stop button , the manipulator plete a cycle of action to stop after the hole campaign. The design of the proposed development of the information on the manipulator can grasp up in space objects ， flexible and varied movements ， can replace the artificial heat and dangerous operation conducted operations， and can grasp the larger work pieces . Can improve working conditions, avoid personal accident. Can reduce manpower, and to facilitate the there arepaced the production of. Keywords： Manipulator ； Hydraulic； Control Loop 全套設(shè)計（圖紙）請聯(lián)系 174320523 各專業(yè)都有 目 錄 摘 要 ........................................................................................................................................... III ABSTRACT .................................................................................................................................. IV 目 錄 ............................................................................................................................................ V 1 緒論 ............................................................................................................................................. 1 機(jī)械手的基本概念的研究內(nèi)容和意義 .............................................................................. 1 機(jī)械手的基本概念 ........................................................................................................ 1 機(jī)械手的研究意義 ........................................................................................................ 1 機(jī)械手的發(fā)展現(xiàn)狀及應(yīng)用 .................................................................................................. 1 世界機(jī)器人發(fā)展?fàn)顩r .................................................................................................. 1 我國工業(yè)機(jī)器人的發(fā)展 ................................................................................................ 2 本課題達(dá)到的要求 ............................................................................................................. 2 2 液壓機(jī)械手主要結(jié)構(gòu)的機(jī)械設(shè)計 ............................................................................................. 4 臂力的確定 .......................................................................................................................... 4 確定工作范圍 ...................................................................................................................... 4 確定運(yùn)動速度 ...................................................................................................................... 4 手臂的配置形式 .................................................................................................................. 4 位置檢測裝置的選擇 .......................................................................................................... 5 驅(qū)動與控制方式的選擇 ...................................................................................................... 5 本章小結(jié) .............................................................................................................................. 5 3 手部結(jié)構(gòu) ..................................................................................................................................... 6 概述 ...................................................................................................................................... 6 設(shè)計時應(yīng)考慮的幾個問題 .................................................................................................. 6 驅(qū)動力的計算 ...................................................................................................................... 7 兩支點回轉(zhuǎn)式鉗爪的定位誤差的分析 .............................................................................. 8 本章小結(jié) .............................................................................................................................. 8 4 腕部的結(jié)構(gòu) ................................................................................................................................. 9 概述 ...................................................................................................................................... 9 腕部的結(jié)構(gòu)形式 .................................................................................................................. 9 手腕驅(qū)動力矩的計算 .........................................................