五自由度机械臂设计.doc

五自由度机械臂设计
摘要
本设计主要介绍关于工业机器人的一些知识和原理,包括工业机器人的组成、分类、主要技术性能参数和工业机器人的运动分析。本设计的总体内容是根据移动机构的移动能力指标,比较现有移动机构的性能特点,确定移动机构的最佳移动方式;设计一个五自由度关节式机械臂,确定五自由度工业机器人的主要技术参数和传动关系,并通过对工业机器人的动力计算为各部位选择合适的驱动电机;确定五自由度工业机器人设计计算机控制系统方案以及为所设计的五自由度工业机器人进行Pro/E建模。本论文作者在参考大量文献资料的基础上,结合设计的要求,并参考通用型机器人的结构,进行五自由度工业机器人的结构设计和其计算机控制系统的设计。本文所设计的机械手臂主要由手爪、腕、小臂、大臂和基座组成,同时用Pro/E对其进行了三维建模,可用于搜索、抓取水下管件、缆线等细长物体,也可用于抓取其它形状的物体,具有一定的通用性。机器人能自动控制,多功能,有五个自由度,可固定或运动,用于相关自动化系统中。
关键词五自由度;工业机器人;三维建模
The Design Of Five Degrees Of Freedom Of Rbotic Arm
Abstract
This design focuses on some knowledge and principles of industrial robots, including position of industrial robots, classification, the main technical performance parameters and the motion analysis of industrial robots. The overall content of this design is the ability to move of the moving mechanism based on indicators, comparing the performance characteristics of existing mobile mechanism, to determine the optimal movement mechanism moves; design a joint manipulator of five degrees, to determine five degrees of freedom of an industrial robot main technical parameters and transmission relations and through various parts of the dynamic calculation of industrial robots to choosing the right drive motor; identified puter control system programs of the design of five degrees of freedom of industrial robots, as well as build a Pro / E model of the design of five degrees of freedom of industrial robots. The authors in reference to large number of documents on the bination of design requirements, and with reference to the structure of general-purpose robot for five degrees of freedom industrial robot design and design puter control system. The robotic arm of this article is designed mainly by gripper, wrist, forearm, arm and position, while using the Pro / puter program be a three-dimensional modeling,the robotic arm can be used to search for, capture pipe fittings underwater, cables, and other fine or long objects, it can also be other shapes objects for gripp