气动通用机械手设计.doc

毕业设计说明书
设计(论文)题目:气动通用机械手设计
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本设计包含全部说明书及配套CAD图纸 QQ
2010年06月10日
摘要
本文通过对机械手的组成和分类,及国内外的发展状况的了解,进行了总体方案设计,确定了机械手用四自由度和圆柱坐标型式。
本机械手为通用机械手,故同时设计了机械手的夹持式手部结构和吸附式手部结构,可以更换使用。计算出了手腕转动时所需的驱动力矩和回转汽缸的驱动力矩,确定了相关尺寸,设计了机械手的腕部结构;设计了机械手的手臂结结构;设计了手臂伸缩,升降用液压缓冲器和手臂回转用液压缓冲器。
关键词气动;机械手;气缸。
Abstract
At first, the paper introduces the conception of the industrial robot and the information of the development briefly. What's more, the paper accounts for background and the primary mission of the paper introduces the function, composing and classification of the manipulator, tells out the free-degree and the form of coordinate. At the same time, the paper gives out the primary specification parameter of this manipulator.
This paper designs the structure of the hand and the equipment of the drive of the manipulator,and analyzes the error of the orientation of the fingers. the paper designs the structure of the wrist, computes the needed moment of the drive when the wrist wheels and the moment of the drive of the pump. the paper designs the structure of the arm, and designs the hydraulic pressure buffer when the manipulator's arm flexes, ascend, descend and wheels.
Key words: manipulator;air cylinder.
目录
摘要 I
Abstract II
目录 1
1绪论 3
3
4
机械手的组成 4
机械手的分类 6
国内外发展状