【正文】 ．．．．．．．．．．．．． ．．．．．．．．．． 6 機(jī)械手手臂的設(shè)計(jì)要求 ．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．． 6 設(shè)計(jì)具體采用方案 ．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．． 7 設(shè)計(jì)機(jī)械手手部連接方式 ．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．． 7 機(jī)械手末端執(zhí)行器（手部）的結(jié)構(gòu)設(shè)計(jì) ．．．．．．．．．．．．．．．．．．．．．．．．．．． 8 機(jī)械手末端執(zhí)行器的設(shè)計(jì)要求 ．．．．．．．．．．．．．．．．．．．．．．．．．．．．． 8 機(jī)械手夾持器的運(yùn)動(dòng)和驅(qū)動(dòng)方式 ．．．．．．．．．．．．．．．．．．．．．．．．．． 9 機(jī)械手夾持器的典型結(jié)構(gòu) ．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．． 9 機(jī)械手的機(jī)械傳動(dòng)機(jī)構(gòu)的設(shè)計(jì) ．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．． 10 工業(yè)機(jī)械手傳 動(dòng)機(jī)構(gòu)設(shè)計(jì)應(yīng)注意的問(wèn)題 ．．．．．．．．．．．．．．．．．．． 10 工業(yè)機(jī)械手傳動(dòng)機(jī)構(gòu)常用的機(jī)構(gòu)形式 ．．．．．．．．．．．．．．．．．．．．． 10 設(shè)計(jì)具體采用方案 ．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．． 12 機(jī)械手驅(qū)動(dòng)系統(tǒng)的設(shè)計(jì) ．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．． 12 機(jī)械手各類驅(qū)動(dòng)系統(tǒng)的特點(diǎn) ．．．．．．．．．．．．． ．．．．．．．．．．．．．．．．． 12 機(jī)械手液壓驅(qū)動(dòng)系統(tǒng) ．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．． 13 機(jī)身擺動(dòng)驅(qū)動(dòng)元件的選取 ．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．． 13 設(shè)計(jì)具體采用方案 ．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．． 14 機(jī)械手手臂的平衡機(jī)構(gòu)設(shè)計(jì) ．．．．．．．．．．．．．．．．．．．．．．．．．． ．．．．．．．．．．． 14 第 3 章 理論分析和設(shè)計(jì)計(jì)算 ．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．． 16 液壓傳動(dòng)系統(tǒng)設(shè)計(jì)計(jì)算 ．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．． 16 確定液壓傳動(dòng)系統(tǒng)基本方案 ．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．． 16 擬定液壓執(zhí)行元件運(yùn)動(dòng)控制回路 ．．．．．．．．．．．．．．．．．．．．．．．．．．． 17 IV 液壓源系統(tǒng)的設(shè)計(jì) ．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．． 17 確定液壓系統(tǒng)的主要參數(shù) ．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．． 17 計(jì)算和選擇液壓元件 ．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．． 24 機(jī)械手爪各結(jié)構(gòu)尺寸的計(jì)算．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．． 26 第 4 章 機(jī)械手控制系統(tǒng)的設(shè)計(jì) ．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．． 28 系統(tǒng)總體方案 ．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．． 28 各芯片工作原理 ．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．． 28 串口轉(zhuǎn)換芯片 ．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．． ． 28 單片機(jī) ．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．． 29 8279 芯片 ．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．． 30 譯碼器 ．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．． 31 放大芯片 ．．．．．．．．．．．．．．．．． ．．．．．． .．．．．．．．．．．．．．．．．．．．．．．．． 32 電路設(shè)計(jì) ．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．． 33 顯示電路設(shè)計(jì) ．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．． 33 鍵盤(pán)電路設(shè)計(jì) ．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．． 33 復(fù)位電路設(shè)計(jì) ．．．．． ．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．． 33 晶體振蕩電路設(shè)計(jì) ．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．． 34 傳感器的選擇 ．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．． 34 結(jié)論 ．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．． 36 致 謝 ．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．． 37 參考文獻(xiàn) ．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．． 38 CONTENTS Abstract.....................................................................................................................I Chapter 1 Introduction .........................................................................................1 background..................................................................................................1 design purpose.............................................................................................1 domestic and foreign research present situation and trends........................2 design principles..........................................................................................2 Chapter 2 Design of the demonstration.................................................................3 overall design...........................................................................3 V manipulator overall structure type....................................................3 design adopts the scheme.................................................................4 lumbar base structure design of mechanical hand.......................................5 manipulator lumbar base structure design requirements...............5 design schemes.....................................................................5 arm structure design..................................................................6 manipulator arm design requirements..............................................6 design adopts the scheme.................................................................7 design of mechanical hand connection mode..............................................7 the manipulator endeffector structure design..........................................8 manipulator endeffector design requirements.................................8 manipulator gripper motion and driving method.............................9 manipulator gripper structure...........................................................9 robot mechanical transmission design.......................................................10 industry for transmission mechanism of manipulator design should pay attention question.................................................................10 industrial machinery hand transmission mechanism monly used form of institution................................................................10 design adopts the scheme...............................................................12 mechanical arm drive system design.........................................................12 manipulator of various characteristics of the drive system...........12 hydraulic drive system for a manipulator.......................................13 Body swing the selection of drive ponents..............................13 Desi