【正文】 l shape that transports a machine hand to five freedom degrees hydraulic to carry on a design, exercise the scope carry on a programming, sport route of adjustment, and it originally driving of machine hand the system carry on designing, the ponent used in the hydraulic route diagram carries on with meticulous care selection, after carry on the design of oil road, first, this task book to machine hand at modern social in of function and the development present condition in nowadays carried on simple introduction and still included the research meaning of machine hand among them, machine palm reading pare at a series of advantage had by on a design to the total project, made sure to design a kind of five freedom degrees porterage machine hand, including the total design of machine hand, move a way design, the action programed a design, the 3D shape designs etc..Carried on an assurance to some basic technique parameters of the machine hand secondly, and the first step programed total external appearance sketch plan, drew hydraulic principle with the AUTOCAD software diagram, this the selection of each ponent of the principle diagram can make sure in the later calculation, then as for concrete calculation that carried on each part in chapter 4, calculation included a hand to clip and hold a machine among them, the wrist department turns round an oil urn and putes, small arm structure of of design, the flexible data of the urn of Fu Yang really settle, the big arm turns round an oil urn of design, the big arm ascends and descends anization of design, the hand drives an oil urn oil bore the size pute, wrist department turn round oil urn oil bore size assurance, the big arm turns round oil urn oil bore size assurance, the big arm ascends and descends oil urn oil bore size assurance, flexible arm oil urn oil bore size assurance, after the each oil urn 哈爾濱理工大學(xué)學(xué)士學(xué)位論文 their owncdsvlpa,mxukgf.()ybTqCzjSAghX III makes selection, now can to oil urn the piston pole carry on school pit, chapter 5 carried on school to the piston pole pit, include a hand and drive oil among them urn piston pole school pit, wrist department turn round oil urn piston pole school pit, flexible oil urn piston pole school pit, Fu Yang oil urn piston pole school , at each piece according to after the end assurance, this design still carried on to draw in chapter 6 to the 3D effect diagram of machine hand. Keywords robot hand。其次，對機械手本身的一些基本技術(shù)參數(shù)進 行了確定，并且初步規(guī)劃出了總體外觀簡圖，用 AUTOCAD 軟件繪制了液壓原理圖，此原理圖的各個原件的選取在后來的計算中得以確定， 然后在第 4 章進行了各個部分的具體計算，其中包括了手部夾持器的計算，腕部回轉(zhuǎn)油缸計算，小臂結(jié)構(gòu)的的設(shè)計，俯仰缸的伸縮數(shù)據(jù)的確定，大臂回轉(zhuǎn)油缸的設(shè)計，大臂 升降機構(gòu)的設(shè)計，手部驅(qū)動油缸油孔尺寸計算，腕部回轉(zhuǎn)油缸油孔尺寸確定，大臂回轉(zhuǎn)油缸油孔尺寸確定，大臂升降油缸油孔尺寸確定，伸縮臂油缸油孔尺寸確定，在各個油缸選定之后，現(xiàn)在可以對油缸活塞桿進行校核，第 5 章對活塞桿進行了校核，其中包括手部驅(qū)動 油缸活塞桿校核，腕部回轉(zhuǎn)油缸活塞桿校核，伸縮油缸活塞桿校核，俯仰油缸活塞桿校核。their owncdsvlpa,mxukgf.()ybTqCzjSAX五自由度液壓搬運機械手設(shè)計 摘要 本設(shè)計的內(nèi)容是對五自由度液壓搬運機械手的總體外形進行設(shè)計，運動范圍進行規(guī)劃，運動路線的調(diào)整，及其本機械手的驅(qū)動系統(tǒng)進行設(shè)計，液壓路線圖中的所用原件進行精心選取，之后進行油路的設(shè)計，首先，本任務(wù)書對機械手在現(xiàn)代社會中的作用以及現(xiàn)在的發(fā)展現(xiàn)狀進行了簡單介紹，其中還包括了機械手的研究意義，機械手相比于人手所具有的一系列優(yōu)點。對總體方案進行了設(shè)計，確定 設(shè)計一種五自由度搬運機器手，包括機器手的總體設(shè)計，移動方式設(shè)計，動作規(guī)劃設(shè)計，三維造型設(shè)計等。最后，在各個數(shù)據(jù)最終確定后，本設(shè)計還對機械手的三維效果圖在第 6 章進行了繪制。 five freedom degree。 hydraulic pressure 哈爾濱工業(yè)大學(xué)工學(xué)碩士學(xué)位論文 their owncdsvlpa,mxukgf.()ybTqCzjSAX IV 目錄 摘要 .......................................................................................................................I Abstract ............................................................................................................... II 第 1 章 緒論 ........................................................................................................ 1 課題背景及研究現(xiàn)狀 ................................................................................ 1 機械手的研究意義及其本身優(yōu)點 ........................................................... 2 機械手的研究意義 .......................................................................... 2 機械手本身的優(yōu)點 .......................................................................... 2 本章小結(jié) .................................................................................................... 3 第 2 章 總體方案設(shè)計 ........................................................................................ 4 設(shè)計目標 .................................................................................................... 4 總體方案分析 ............................................................................................ 4 搬運機械手的組成 ........................................................................... 4 三大系統(tǒng)設(shè)計分析 ........................................................................... 4 搬運機械手的運動及驅(qū)動方式 ................................................................ 5 本章小結(jié) .................................................................................................... 7 第 3 章 基本 參數(shù)及二維外觀圖 ........................................................................ 8 基本參數(shù) .................................................................................................... 8 總體外觀圖 ................................................................................................ 8 外觀圖簡圖 ....................................................................................... 8 液壓原理設(shè)計圖截圖 ....................................................................... 9 本章小結(jié) .................................................................................................. 10 第 4 章 各部分的具體計算 .............................................................................. 11 手部夾持器的計算 ................................................................................. 11 手部夾持器設(shè)計要求 ..................................................................... 11 手部夾持器設(shè)計計算 ..................................................................... 11 端蓋螺釘校核 ................................................................................. 12 腕部回轉(zhuǎn)油缸計算 .....................................................