【正文】 國內(nèi)外發(fā)展情況 ................................................................................................................ 6 課題的主要任務(wù) ................................................................................................................ 8 小結(jié) .................................................................................................................................... 8 第二章 手部結(jié)構(gòu) ............................................................................................................................ 9 手部結(jié)構(gòu)設(shè)計(jì) ................................................................................................................... 9 驅(qū)動力的計(jì)算 .................................................................................................................... 9 小結(jié) .................................................................................................................................. 11 第三章腕部結(jié)構(gòu) ............................................................................................................................ 12 腕部的結(jié)構(gòu)設(shè)計(jì) ............................................................................................................. 12 概述 ...................................................................................................................... 12 腕部的結(jié)構(gòu)形式 .................................................................................................. 12 收完驅(qū)動力矩的計(jì)算 ..................................................................................................... 13 滾動軸承的選擇 .............................................................................................................. 14 水平導(dǎo)軌的選用 .............................................................................................................. 15 小結(jié) .................................................................................................................................. 16 第四章 臂部的結(jié)構(gòu) ...................................................................................................................... 17 臂部設(shè)計(jì)的基本要求 ...................................................................................................... 17 手臂的典型機(jī)構(gòu)以及結(jié)構(gòu)的選擇 .................................................................................. 18 手臂的典型運(yùn)動機(jī)構(gòu) ........................................................................................... 18 IV 手臂運(yùn)動機(jī)構(gòu)的選擇 ........................................................................................... 18 手臂偏重力矩的計(jì)算 ........................................................................................... 19 手臂升降液壓缸驅(qū)動力的計(jì)算 ..................................................................................... 20 手臂升降液壓缸參數(shù)計(jì)算 .............................................................................................. 21 小結(jié) .................................................................................................................................. 23 第五章 底座部分 .......................................................................................................................... 24 底座的設(shè)計(jì) ...................................................................................................................... 24 底座的結(jié)構(gòu)設(shè)計(jì)要求 .......................................................................................... 24 底座的組成部分 .................................................................................................. 24 底座電動機(jī)的選擇 .............................................................................................. 24 軸的設(shè)計(jì) ......................................................................................................................... 26 輸入軸的設(shè)計(jì) ...................................................................................................... 26 輸出軸的設(shè)計(jì) ...................................................................................................... 27 底座諧波傳動減速器的設(shè)計(jì) ......................................................................................... 28 底座傳動齒輪的 設(shè)計(jì) ..................................................................................................... 30 底座軸承的選用 ............................................................................................................. 33 小結(jié) .................................................................................................................................. 33 結(jié)論 ................................................................................................................................................ 34 參考文獻(xiàn) ........................................................................................................................................ 35 致 謝 .............................................................................................................................................. 36 第一章 緒論 1 第一 章 緒論 工業(yè)機(jī)械手 工業(yè)機(jī)械手概述 工業(yè)機(jī)器人由操作機(jī) (機(jī)械本體 )、控制器、伺服驅(qū)動系統(tǒng)和檢測傳感裝置構(gòu)成，是一種仿人操作，自動控制、可重復(fù)編程、能在三維空間完成各種作業(yè)的機(jī)電一體化自動化生產(chǎn) 設(shè)備。 關(guān)鍵詞： 機(jī)械手 液壓 電動 設(shè)計(jì) II Abstract Also known as automatic robot hand that can mimic some of the manpower and arm motor function to grab a fixed procedure, handling objects or automatic operation device operating tools. It can replace human labor in order to achieve the production of heavy mechanization and automation in hazardous circumstances to protect the personal safety of operation, which is widely used in machinery manufacturing, metallurgy, electronics, light industry and nuclear sectors. Now large manufacturing enterprises to improve production efficiency, ensure product quality, universal attention of the production process automation, robotics important member of automated production lines, gradually being recognized by enterprises and adopt. Robotics and application level to some extent reflects a country39。通過機(jī)械設(shè)計(jì)手冊及相關(guān)設(shè)計(jì)資料，計(jì)算設(shè)計(jì)機(jī)械手的造型及部分標(biāo)準(zhǔn)件的選型。 我們將機(jī)器人