搬運(yùn)機(jī)械手的設(shè)計(jì)論文(完整版)

1、I摘要隨著工業(yè)自動(dòng)化的普及和發(fā)展，控制器的需求量逐年增大，搬運(yùn)機(jī)械手的應(yīng)用也逐漸普及，主要在汽車(chē)，電子，機(jī)械加工、食品、醫(yī)藥等領(lǐng)域的生產(chǎn)流水線或貨物裝卸調(diào)運(yùn)可以更好地節(jié)約能源和提高運(yùn)輸設(shè)備或產(chǎn)品的效率，以降低其他搬運(yùn)方式的限制和不足，滿足現(xiàn)代經(jīng)濟(jì)發(fā)展的要求。搬運(yùn)機(jī)械手是一種能自動(dòng)化定位控制并可重新編程序以變動(dòng)的多功能機(jī)器，在本設(shè)計(jì)中，通過(guò)對(duì)機(jī)械手手部結(jié)構(gòu)的設(shè)計(jì)，臂部結(jié)構(gòu)的設(shè)計(jì)，以及液壓系統(tǒng)的設(shè)計(jì)，實(shí)現(xiàn)四自由度的運(yùn)動(dòng)，完成了搬運(yùn)機(jī)械手的系

2、統(tǒng)結(jié)構(gòu)設(shè)計(jì)。關(guān)鍵詞：關(guān)鍵詞：搬運(yùn)機(jī)械手；結(jié)構(gòu)設(shè)計(jì)；液壓系統(tǒng)；四自由度I目錄摘要..............................................................................................................................................IABSTRACT..............................

3、......................................................................................................II1緒論.................................................................................................................

4、..........................11.1設(shè)計(jì)背景..............................................................................................................................11.2機(jī)械手簡(jiǎn)介...................................................

5、.......................................................................11.2.1機(jī)械手的發(fā)展概況......................................................................................................11.2.2機(jī)械手的應(yīng)用意義...................

6、...................................................................................21.2.3搬運(yùn)機(jī)械手的應(yīng)用簡(jiǎn)況..............................................................................................31.2.4機(jī)械手的發(fā)展趨勢(shì).............

7、.........................................................................................41.3PLC概況及在機(jī)械手中的應(yīng)用..........................................................................................41.4設(shè)計(jì)目的...............

8、..............................................................................................................61.5設(shè)計(jì)原則......................................................................................................

9、........................61.6本設(shè)計(jì)的主要內(nèi)容.............................................................................................................72.搬運(yùn)機(jī)械手的整體設(shè)計(jì)..............................................................

10、...............................................82.1執(zhí)行機(jī)構(gòu)..............................................................................................................................82.2驅(qū)動(dòng)系統(tǒng)...............................

11、...............................................................................................92.3控制系統(tǒng).....................................................................................................................

12、........92.4位置檢測(cè)裝置.....................................................................................................................93手部結(jié)構(gòu)...............................................................................

13、....................................................103.1概述...................................................................................................................................103.2設(shè)計(jì)時(shí)應(yīng)考慮的幾個(gè)問(wèn)題..............

14、.................................................................................103.3驅(qū)動(dòng)力的計(jì)算...................................................................................................................103.4兩支點(diǎn)回轉(zhuǎn)式鉗爪

15、的定位誤差的分析...........................................................................123.5手抓加持范圍計(jì)算...........................................................................................................124臂部的設(shè)計(jì).........

16、.......................................................................................................................144.1臂部設(shè)計(jì)的基本要求.......................................................................................

17、................144.2手臂的典型機(jī)構(gòu)以及結(jié)構(gòu)的選擇...................................................................................154.2.1手臂的典型運(yùn)動(dòng)機(jī)構(gòu)......................................................................................

18、.........154.2.2手臂運(yùn)動(dòng)機(jī)構(gòu)的選擇...............................................................................................154.3手臂直線運(yùn)動(dòng)的驅(qū)動(dòng)力計(jì)算...................................................................................

19、........154.3.1手臂摩擦力的分析與計(jì)算.......................................................................................154.3.2手臂慣性力的計(jì)算............................................................................................

20、.......164.3.3密封裝置的摩擦阻力...............................................................................................175臂部運(yùn)動(dòng)驅(qū)動(dòng)力計(jì)算..........................................................................................

21、.....................185.1臂垂直升降運(yùn)動(dòng)驅(qū)動(dòng)力的計(jì)算.......................................................................................185.2手臂回轉(zhuǎn)運(yùn)動(dòng)...................................................................................