【正文】 機械手腰座結構的設計由于機械手采用圓柱型坐標式結構，腰座是機械手第一個回轉關節(jié)，它承載了機械手的全部重量。腰座是機械手第一個回轉關節(jié)，腰部的回轉運動選擇相應的驅動裝置，通過傳動系統(tǒng)傳遞轉矩，設計傳動系統(tǒng)的時候盡量減少傳動鏈，減少機械能損耗。裝配時要保證各部件間的相互位置精度。其中以液壓氣動用的最多，占90%以上，電動、機械驅動用的較少。它利用油缸、馬達加上齒輪、齒條實現(xiàn)直線運動；利用擺動油缸、馬達與減速器、油缸與齒條、齒輪或鏈條、鏈輪等實現(xiàn)回轉運動。缺點是需要配備壓力源，系統(tǒng)復雜成本較高。一般采用46個大氣壓，個別的達到810個大氣壓。缺點是出力小，體積大。為了減少停機時產生的沖擊，氣壓系統(tǒng)裝有速度控制機構或緩沖機構?，F(xiàn)在都用三相感應電動機作為動力，用大減速比減速器來驅動執(zhí)行機構；直線運動則用電動機帶動絲杠螺母機構；有的采用直線電動機。電氣驅動的優(yōu)點是動力源簡單，維護，使用方便。機械驅動只用于固定的場合。它的優(yōu)點是動作確實可靠，速度高，成本低；缺點是不易調整。用氣壓驅動輸出力不大在（1040KN）但在此工作過程中足以達到要求，若采用液壓控制，還需設置回收油的油箱和管道，需要經(jīng)常維護。（3）腰軸的轉動副，機械手要求要順時針擺動60176。轉動副要克服機械手手臂擺動的轉矩，機械手手臂采用φ60，臂厚5mm的無縫鋼管，末端執(zhí)行器與驅動其上下移動的氣缸再加上物料的重量，再乘安全系數(shù)后 F=100N，如圖所示：機械手手臂平均轉速ω=30176。機械手擺動平均速度ω=30176。由于前兩個驅動方式都采用了氣動驅動方式，考慮到氣動方式中擺動氣缸能驅動20Nm的轉矩，擺動氣缸亦采用與氣缸相同的氣源發(fā)生器，降低成本，縮小空間。密閉氣缸的選擇必須考慮到連接管路泄露損失及氣缸抽氣時所需克服的摩擦損失給定一個安全系數(shù)k=。取50，=80?；钊麠U上受到的負載為鋸片真空吸盤與真空吸盤架、管路等的重力，活塞桿向上運動時需要克服負載的重力，還需克服活塞桿自身重力及摩擦力，活塞桿上的拉力約為70N，確定氣缸內徑。所以選擇行程時，多加1020mm的行程余量，即氣缸行程為50mm。所以氣缸只能采用固定式的后法蘭（MF2）式，倒懸掛安裝在角鐵上。機械手手臂是總長為800mm，除角鐵部分長為760mm，厚為5mm的無縫鋼管，可視為均質細桿，其轉動慣量為。/s，則加速度所以擺動氣缸選型時，選擇QGB1系列葉片擺動氣馬達QGB275 轉矩為33Nm5 基于PLC對機械手控制系統(tǒng)的設計隨著微處理器、計算機的迅速發(fā)展，計算機控制技術已經(jīng)廣泛應用在工業(yè)控制的各個方面。為使鋸片磨床機械手實現(xiàn)柔性化制造，采用兩塊可編程控制器分別控制上料機械手和下料機械手。本機械手為氣動機械手，采用PLC控制，選用 三菱可編程控制器 產品： 8點輸入，8點輸出。懂得考慮問題時應該由淺入深，從簡到易。知道什么是主要的，什么是次要的。從而經(jīng)過仔細思考確定設計方案。做畢業(yè)設計時很重要的一點就是要學會自己查找資料?？傊?，通過這次畢業(yè)設計使我受益非淺。再次感謝所有支持和幫助過我的領導、老師、同學們。s fluctuation, the expansion, revolving and so on independence movement way, is called manipulator39。s flexibility is bigger, the versatility is broader, its structure is also more plex. Generally the specialpurpose manipulator has 2~3 degreesoffreedom.The appendage is the arm of the can be either a straight,movable arm or a jointed arm and gives the manipulator its various axes of jointed arm is also known as an articulated the end of the arm,a wrist is wrist is made up of additional axes and a wrist wrist flange allows therobot user to connectdifferent tooling to the wrist for different manipulator’saxes allow it to perform work within acertain area is called the work cell of the robot,and its size corresponds to the size of the the robot’physical size increases,the size of the work cell must also increase.The movement of the manipulator is controlled by actuators, or drive system can use electric,hydraulic,or pneumatic energy developed by the drive system is convered to mechanical power by various mechanical drive drive systems are coupled through mechanical linkages,in turn,drive the different axes of the robot. The mechanical linkages may be posed of chains,geas,and ball screws.The controller is used to control the robot manipulator’movements as well as to control peripheral ponents within the work user can program themovements of the manipulator into the controller through the use of a handheld teach information is stored in the memory of the controller for later recall.The controller is also required to municate with peripheral equipment within the work example,a controller has an input the machine cycle is pleted,the input line turns on ,telling the controller to position the manipulator so that it can pick up the finished ,a new part is picked up by the manipulator and placed into the ,the controller signals the machine to start operation.The controller can be made from mechanically operated drums that step through a sequence of type of controller operates with simple robotic controllers found on the majority of robotic systems are more plex devices and represent stateoftheart is,they are power allows the controller to be very flexible in its operation.The controller can send electric signals over munication two way munication between the robot manipulator and the controller maintains a constant update of the location and the operation of the controller also has the job of municating with the different plant munication link establishes the robot as part of a puterassisted manufacturing(CAM) microprocessorbased systems operate in conjunction with solidstate memory memory devices may be magnetic bubbles,randomaccess memory,floppy disk,or magnetic tape.The power supply is the unit that supplies power to the controller and the types of power are delived to the robotic type of power is the Acpower for operation of the other type of power is used for driving the various axes of the example,if the robot manipulator is controlled by hydraulic or pneumatic drives,control signals are sent to these devices,causing motion of the robot.Industrial robots vary widely in size ，shape，number of axes，degrees of freedom，and design configuration .Each factor influences the dimensions of the robot’s working envelop or the volume of space within which it can move and perform its designated broader classification of robots can been described as below.Fixedand VariableSequence Robots .The fixedsequence robot(also called a pickand place robot)is programmed for a specific sequence of movements are from point to point ,and the cycle is repeated variablesequence robot can be programmed for a specific sequence of operations but can be reprogrammed to perform another sequence of operation.Playback operator leads or walks the playback robot and its end effector through the deired path .The robot memorizes and records the path and sequence of motions and can repeat them continually without any further action or guidance by the operator.Numerically Controlled numerically cantrolled robot is programmed and operated much like a numerically controlled machine .The robot is servocontrolled by digital data ,and its sequence of movements can be changed with relative ease.Intelligent Robot.[3]The intelligent robot is capable of performing some of the functions and tasks carried out by human beings .It is equipped with a variety of sensors with visual and tactile capabilities. 機器人工業(yè)機器人是一種提高制造業(yè)生產力的工具，它可以承擔那些對人類可能有危險的工作。這樣，人們九可以從單調的工作中解脫出來。機器人是一個可以重復編程的、多功能的工作機構，可以在各個預編程位置移動零件、材料、工具或其他特殊裝置，完成各種不同的工作。在某些