【正文】 ..... 9 The determination of the mechanical structure types ............ 9 Cylindrical coordinates type ........................................ 9 Spherical coordinates type ........................................... 9 Plane joint type ............................................................ 9 the determination of w ork space .......................................... 10 the determination of wrist structure ..................................... 11 The determination of the basic parameters .......................... 11 Chapter 4 of the wrist structure de sign and calculation .............. 12 robot analysis and choose driving sche me ........................... 12 The choice of wrist motor .................................................... 13 Mention the choice of wrist motor ............................. 13 wrist and turn wrist motor choice ............................ 13 Determine the transmission ratio of the ...錯誤 !未定義書簽。 Technical requirements ............................錯誤 !未定義書簽。 CaoZuoJi ........................................錯誤 !未定義書簽。 chapte r 1 .................................................................錯誤 !未定義書簽。 welding。設(shè)計中大多采用了標準件和常用件，降低了設(shè)計和制造成本。確定機器人的外形時，擬定了手腕的傳動路徑，選用直流電動機，合理布置了電機、軸和齒輪，設(shè)計了齒輪和軸的結(jié)構(gòu)，并進行了強度校核計算。 I 摘 要 為了提高生產(chǎn)效率和焊接質(zhì)量，滿足特定的工作要求，本題設(shè)計用于焊接的關(guān)節(jié)型機器人的手腕和末端執(zhí)行器。根據(jù)機器人的工作要求進行了機器人的總體設(shè)計。傳動中采用了軟軸、波紋管聯(lián)軸器和行星齒輪機構(gòu)，實現(xiàn)了擺腕、轉(zhuǎn)腕和提腕的六個自由度的要求。 關(guān)鍵詞 ：自由度；焊接；手腕 II Abstract In order to improve the production efficiency and welding quality, to meet the specific requirements of the w ork, the design of this thesis is used for the w rist of welding articulated robot and the end of the actuator. According to the requirements of the robots’ work, w e make overall design of the robot. When determining the shape of the robot, drawing up the transmission path of the wrist, selecting of DC motor, arranging the motor, the shaft and the gear reasonable, and checking the strength. The transmission apply to flexible shafting, bellows coupling and plaary gear mechanism, achieving to put the wrist, turn the wrist and raise the wrist to mention the requirements of the six degrees of freedom. The designs mainly use standard parts and co mmon pa rts, reducing the costs of design and manufacturing. Keywords: degree of freedom。 wrist III 目 錄 摘 要 .................................................................................................... II Abstract ............................................................................................... II 第 1 章 前言 ....................................................................................... 1 機器人的概念 ........................................................................ 1 操作機 ......................................................................... 1 驅(qū)動單元 ...................................................................... 2 控制裝置 ...................................................................... 2 人工智能系統(tǒng) .............................................................. 2 題目來源 ............................................................................... 2 技術(shù)要求 ............................................................................... 2 本設(shè)計要解決的主要問題及設(shè)計總體思路 .......................... 2 第 2 章 國內(nèi)外研究現(xiàn)狀及發(fā)展狀況 ................................................. 4 研究現(xiàn)狀 ............................................................................... 4 工業(yè)機器人 .................................................................. 4 先進機器人 .................................................................. 5 發(fā)展趨勢 ............................................................................... 7 第 3 章 總體方案設(shè)計 ........................................................................ 9 機械結(jié)構(gòu)類型的確 定 ............................................................ 9 圓柱坐標型 .................................................................. 9 直角坐標型 .................................................................. 9 球坐標型 ...................................................................... 9 關(guān)節(jié)型 ......................................................................... 9 平面關(guān)節(jié)型 .................................................................. 9 工作空間的確定 .................................................................. 10 手腕結(jié)構(gòu)的確定 .................................................................. 11 基本參數(shù)的確定 .................................................................. 11 第 4 章 手腕的結(jié)構(gòu)設(shè)計與計算 ....................................................... 12 機器人驅(qū)動方案的分析和選擇 ........................................... 12 手腕電機的選擇 .................................................................. 13 提腕電機的 選擇 ........................................................ 13 擺腕和轉(zhuǎn)腕電機的選擇 ............................................. 13 IV 傳動比的確定 ...................................................................... 13 提腕總傳動比的確定 ................................................ 13 轉(zhuǎn)腕和擺腕傳動比的確定 ......................................... 14 傳動比的分配 ...................................................................... 14 齒輪的設(shè)計 .......................................................................... 15 提腕部分齒輪設(shè)計 .................................................... 15 轉(zhuǎn)腕部分齒輪設(shè)計 .................................................... 22 擺腕部分齒輪設(shè)計 .................................................... 24 軸的設(shè)計和校核 .................................................................. 26 輸出軸的 設(shè)計 ............................................................ 26 傳動軸的設(shè)計 ............................................................ 26 軸的強度校核 ...............................