22-三自由度机械臂设计.zip

毕业论文(设计)
题目三自由度机械臂设计
系部机械工程学院
专业机械设计制造及其自动化年级 2010级
学生姓名
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指导教师
摘要
机器人技术是综合了许多学科的知识,例如计算机、控制论、机构学、信息和传感技术、人工智能、仿生学等多学科而形成的高新技术,是当今研究领域十分重视的课题,机器人在很多领域都得到广泛应用。机器人的应用情况,是一个的重要标志,因而受到各先进工业国家的重视,投入大量人力物力加以研究和应用。
本文的主要任务和要解决的问题,是设计一台三自由度的机器人,在已有的技术资料的基础上,通过分析,确定臂部的传动系统,然后假设臂部末端的结构,确定臂部的输出功率,然后计算出臂部所需的电机。在确定电机和传动机构的基础上,对锥齿轮和传动中所需的带轮以及同步齿形带进行设计,并且对它们进行校核,确定所设计的臂部结构能够配合机器人的其他结构进行喷漆动作。并用CAD软件完成从建模到运动学分析、应力分析的全过程。需要全面理解机械原理、机械设计、机械系统设计以及CAD制图标准等相关的知识,并考虑其可靠性、实用性、经济性等性能。
本课设在已有理论基础上,针对以往研究的不足,根据实际使用要求,确定采用三自由度的关节型机器人结构方案;由于机器人结构复杂,构件繁多,需要用高端软件配合进行建模,装配的工作,而我们现有的材料相当有限,所以本课设只是设计了机器人的手臂结构;并采用CAD绘制了其装备和零件图,并对其中某些零件的强度进行了校核,使臂部的整体结构能够满足工作的要求。
关键词: 三自由度;机器人;手臂;结构设计

Abstract
Robot technique is a synthesis of many subjects, such puter, control technology of multidisciplinary theory, mechanism, information and sensor technology, artificial intelligence, bionics and form, is the research field of attached great importance to the issue, robots have been widely used in many fields. Application of robot, is an important symbol of national industrial automation level, and thus have the advanced industrial countries attach importance to, put a lot of manpower material resources to study and apply.
The main task of this paper and the problems to be solved, is to design a robot with three degrees of freedom, the basic technical information on the existing transmission system, through analysis, to determine the arm, then it is assumed that the structure of the arm end, determining the output power of the arm, then calculates the required motor arm. Based on determining the motor and transmission mechanism, the belt wheel required bevel gear and the drive and the synchronous toothed belt design, and carries on the examination to determine their arm structure, designed to be able to cooperate with other robot painting movement. And using CAD software from modeling to kinematics analysis, the whole process of stress analysis. Need to fully understand the knowledge of me