【正文】 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。 Designing the system of pneumatic。 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。 Working speed。 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。 pneumatic system design。 氣動指揮機(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 ......................................................... 1 國內(nèi)發(fā)展 狀況 ......................................................... 2 機(jī)械手研究領(lǐng)域 ....................................................... 2 本文主要研究內(nèi)容 ..................................................... 2 2 氣動指揮機(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 ................................................... 7 ADAMS仿真軟件功能簡介 ................................................. 7 UG建立實(shí)體模型并導(dǎo)入 ADAMS ........................................ 7 運(yùn)動過程仿真 .......................................................... 7 運(yùn)動仿真參數(shù)分析 ..................................................... 11 4 氣動回路設(shè)計(jì) ............................................................ 18 通過對運(yùn)動狀態(tài)的模擬設(shè)計(jì)相應(yīng)的氣動回路 ............................... 18 對氣壓傳動系統(tǒng)的分析 ................................................ 19 氣源的處理 ...................................................... 19 壓縮空氣驅(qū)動氣缸活塞桿運(yùn)動過程 .................................. 20 5 氣動元件的選型 .......................................................... 21 對運(yùn)動氣缸的選型 .................................................... 21 對 A缸的選取 .................................................... 21 氣動指揮機(jī)械手臂設(shè)計(jì) IV 對 B缸的選取 .................................................... 21 對 C缸的選取 .................................................... 22 對 D缸的選取 .................................................... 23 對 E缸的選取 .................................................... 23 對電磁換向閥進(jìn)行選型 ................................................ 23 對氣壓的要求 ........................................................ 24 對氣動三聯(lián)件的選擇 ................................................... 24 單向節(jié)流閥的選擇 ..................................................... 25 減壓閥的選擇 ......................................................... 26 安全閥的選擇 ........................................................ 26 6 指揮機(jī)械手臂控制部分設(shè)計(jì) ................................................ 28 PLC型號的選擇 ....................................................... 28 初始位置程序的編寫 .................................................. 28 機(jī)械手臂的指揮動作循環(huán)程序 .......................................... 29 機(jī)械手臂肩部的轉(zhuǎn)動 .............................................. 29 機(jī)械手臂大臂、肘部、腕部的轉(zhuǎn)動 ................................... 30 外接電路驅(qū)動電磁換向閥 ............................................... 34 恢復(fù)初始位置控制 ..................................................... 35 ............................................. 36 7 總結(jié) ......