【正文】 鏈條的選擇 ...........................................................................................11 滾子鏈傳動的設計 ................................................................................................11 鏈輪的設計 ............................................................................................................13 滾子鏈的靜強度計算 ............................................................................................14 鏈傳動的張緊 ........................................................................................................15 鏈傳動的潤滑 ........................................................................................................155 軸的設計與驗算 .................................................................................................................16 軸的結構設計 ...............................................................................................................16IV 選擇軸的材料 ........................................................................................................16 初步估計軸徑 ........................................................................................................17 軸的校核 .......................................................................................................................186 軸上零件的選擇與計算 .....................................................................................................25 鍵的選擇與鍵聯(lián)接強度校核 .......................................................................................25 大臂末端電機軸上鍵的選擇與校核 ....................................................................25 軸上矩形花鍵的選擇與校核 ................................................................................26 小臂電機軸上鍵的選擇與校核 ............................................................................26 滾動軸承的驗算 ...........................................................................................................26 確定軸承的承載能力 ............................................................................................27 計算當量動載荷 ....................................................................................................28 校核軸承壽命 ........................................................................................................287 伺服進給系統(tǒng)的設計與計算 .............................................................................................29 滾珠絲杠 的設 計 ...........................................................................................................29 材料的選擇 ............................................................................................................29 耐磨性計算 ............................................................................................................29 螺桿的強度計算 ....................................................................................................30 螺桿的穩(wěn)定性計算 ................................................................................................30 絲杠副的選擇計算 .......................................................................................................31 螺母的疲勞壽命計算 ............................................................................................32 螺母螺紋牙的強度計算 ........................................................................................33 螺母凸緣的強度計算 ............................................................................................34 絲杠驅動電機的選擇 ...................................................................................................34 機械導軌的選擇 ...........................................................................................................35 聯(lián)軸器的選擇與計算 ...................................................................................................36 選擇聯(lián)軸器的類型 ................................................................................................36 聯(lián)軸器的主要參數(shù) ................................................................................................37 聯(lián)軸器的計算扭矩 ................................................................................................37結論 ...........................................................................................................................................39V致謝 ...........................................................................................................................................40參考文獻 ...................................................................................................................................41附錄 A.......................................................................................................................................42附錄 B.......................................................................................................................................4811 引言 課題背景和意義機器人技術，應該說是一個伴隨著科學技術的進步而發(fā)展起來的一項綜合性的成果。最后對系統(tǒng)中主要部件的剛度、強度等性能參數(shù)進行了計算與校核。設計內容包括機械手的移動關節(jié)、旋轉關節(jié)的結構設計，傳動部分的設計等。在機械手工作過程中，通過伺服電機帶動絲杠轉動，從而來完成機械手水平方向的移動，旋轉關節(jié) 1 通過鏈傳動來完成平面內的旋轉動作，旋轉關節(jié) 2 直接在伺服電機的驅動下完成平面內的旋轉動作，這樣機械手可以伸入口徑較小的回轉殼體內完成粘貼膠片的任務。I摘 要隨著機器人在各個領域應用的日益廣泛，許多場合要求機器人具有力控制的能力。此次設計是針對回轉殼體內自動粘貼膠片的任務，設計一個 3—DOF 平面關節(jié)型機械手（包括 1 個移動關節(jié)，2 個轉動關節(jié)和末端執(zhí)行機構） ，配合殼體驅動系統(tǒng)來實現(xiàn)此任務。本次設計工作首先對機械手進行了運動學分析（包括運動學方程的建立，運動學方程的正問題、逆問題及其解） 。其中，重點是對伺服進給系統(tǒng)的設計（包括工作臺的設計，絲杠的設計，直線導軌、伺服電機和減速器的選取等） 。關鍵詞：機械手；自由度；運動學分析；伺服電機；直角減速器IIAbstractWith the increasing application of robot in various industrial fields, it is requested that robot has the ability to control power. According to the contact task of rotary hull, a 3DOF robot manipulator is designed in order to acplish sticking of the colloid. The robot manipulator consists of a transfer joint and two revolute joints and robot endeffector. The robot manipulator could realize the contacting task bining with the driving system of rotary hull. The concrete processing prising of driving screw transmission with the servo motor. In this way, robot manipulator could plete movement in horizonta