【正文】 ........IVAbstract...........................................................................................................................................V目 錄..............................................................................................................................................................VII1 緒論 .............................................................................................................................................1 工業(yè)機器人的技術(shù)與發(fā)展 ..................................................................................................1 本設(shè)計中的四自由度棒料搬運機械手所實現(xiàn)的功能 ......................................................2 本設(shè)計中的四自由度棒料搬運機械手設(shè)計的意義 ..........................................................22 機械手的總體設(shè)計 .....................................................................................................................3 設(shè)計要求 ...............................................................................................................................3 機械手的組成 ......................................................................................................................3 總方案的擬定 ......................................................................................................................4 機器人的工作空間 ...............................................................................................................4 機械手驅(qū)動系統(tǒng)的設(shè)計 ......................................................................................................5 機械手驅(qū)動器 ...............................................................................................................5 機械手傳動機構(gòu) ...........................................................................................................53 機械手的傳動設(shè)計 .....................................................................................................................7 滾珠絲杠的選擇 ..................................................................................................................7 諧波齒輪減速器參數(shù)的確定 ..............................................................................................84 機械手的各電機選擇 ...............................................................................................................12 機械手手臂升降步進點擊的選擇 ....................................................................................12 機械手底座回轉(zhuǎn)驅(qū)動電動機的選擇 ................................................................................145 機械手各氣動件的設(shè)計計算 ...................................................................................................18 氣爪夾緊力的起算與氣爪的選擇 ....................................................................................18 氣爪夾緊力的要求 .....................................................................................................18 缸徑的確定 .................................................................................................................19 行程的確定 .................................................................................................................20 氣缸的動速度 .............................................................................................................20 擺動氣缸的選擇 .........................................................................................................21 手臂伸縮氣缸的選擇 ........................................................................................................236 機器人控制系統(tǒng)的設(shè)置 ...........................................................................................................26 機械手控制器的選擇 ........................................................................................................26 機械手控制系統(tǒng)的特點及對控制功能的基本要求 ........................................................26 控制系統(tǒng)的總體設(shè)計 ........................................................................................................277 手臂驗算與機械手參數(shù)...........................................................................................................................29 手臂平衡的驗算 ................................................................................................................29 機械手參數(shù) ........................................................................................................................308 結(jié)論與展望 ...............................................................................................................................31 結(jié)論 ....................................................................................................................................31 不足之處及未來展望 ........................................................................................................31致 謝 ...........................................................................................................................................32參考文獻 .........................