【正文】 les around the base some characteristics. As the above considerations, and in order to improve production efficiency and reduce labor intensity, to meet specific work requirements, This designed robot is vertical multijoint robot , using a DC servo motor, Through a series of shafts and gears realizated wrist rotation and swinging, and the movement of AutoHand crawls and relax. In order to make the entire structure is pact, rational layout the motor shaft and the gear , design the structure of the gear and shaft, and the strength verification. Due to the number of motordriven and the number of degrees of freedom of arms are closely linked, thus reducing the number of motor not only reduce the weight of the arm, but also it will simplify the analysis of the whole system dynamics and kinematics. The transmission of the design has used the flexible shaft, bellows couplings, wrist and two pairs of gear drive. In the choice of material, in order to make the robot weight lighter and the wrist can movements Agile. so selection of light materials, I have designed materials of robot is aluminumcopper alloy of cast aluminum alloy . This robot’s arm has superity of good rigidity, precise transmission and weight lighter. So the design mostly used the standard parts and mon parts, reduced the cost of the design and the production. Key words: Vertical multijoint robot； servo motor ； transmission of gears ； arm 垂直多關(guān)節(jié)機器人臂部和手部設(shè)計 2 目 錄 1 前言 .................................................................................................................................. 3 課題來 源 ....................................................................................................................... 3 技術(shù)要求及預(yù)期效果 ................................................................................................... 3 本課題要解決的主要問題及設(shè)計總體思路 ............................................................... 3 國內(nèi)外研究現(xiàn)狀及發(fā)展?fàn)顩r ....................................................................................... 3 研究現(xiàn)狀 .................................................................................................................... 3 發(fā)展趨勢 .................................................................................................................... 4 2 總體方案設(shè)計 .................................................................................................................. 6 機械結(jié)構(gòu)類型的確定 ................................................................................................... 6 傳動方案的確定 ........................................................................................................... 6 工作空間的確定 ........................................................................................................... 7 手腕結(jié)構(gòu)的確定 ........................................................................................................... 7 驅(qū)動裝置的選擇 ........................................................................................................... 8 機器人驅(qū)動方案的分析和選擇 ................................................................................ 8 手腕電機的選擇 ........................................................................................................ 9 傳動比的確定及分配 .............................................................................................. 10 3 齒輪的設(shè)計 .....................................................................................................................11 齒輪強度的設(shè)計與校核 ..............................................................................................11 第一級圓柱齒輪傳動設(shè)計 ........................................................................................11 第二級圓錐齒輪傳動設(shè)計 ...................................................................................... 14 4 軸的設(shè)計 ........................................................................................................................ 17 轉(zhuǎn)腕 傳動軸的選擇 ..................................................................................................... 17 擺腕傳動軸 的設(shè)計 ..................................................................................................... 17 圓柱齒輪軸的設(shè)計 .................................................................................................. 17 軸的強度校核 .......................................................................................................... 18 圓錐齒輪軸的設(shè)計 .................................................................................................. 22 手腕連接軸的設(shè)計 .................................................................................................. 23 大臂小臂連接軸的設(shè)計 .......................................................................................... 24 5 軸承的設(shè)計 .................................................................................................................... 25 軸承的選擇 ................................................................................................................. 25 軸承的壽命計算 ......................................................................................................... 25 6 其它零部件的選用 ........................................................................................................ 25 鍵連接的選用 ............................................................................................................. 25 殼體的設(shè)計 ................................................................................................................. 25 機器人手臂材料的選擇 ............................................................................................. 25 機器人臂部連接件的選用 ......................................................................................... 25 7 關(guān)節(jié)型機器人的位姿分析 ............................................................................................ 27 8 結(jié)論 ......................................................................................................................