气动机械手的设计毕业设计(完整).doc

毕业设计(论文）
课 题 名　称:气动机械手的设计
专　业 班　级:13机械电子工程
学　生 姓 名： 钟　国　 森　
指　导 教　师: 　 　 　 　
2０1 年 月
ﻬ目录
摘要.．．.........．．........．．....．..．..．..．..．．．.．.....．．......4
第一章 前言 　　 　　 　　　 ﻫ 　　..．....．..．......．．．．...．．..．．．...．............５
.．..．..．...．..．....．.．.．...．...........5
．..．...．..．.．．.．..．..............．．....4
.．..．..．．.．..．....．．....．.．...........．6
第二章　机械手的设计方案
.．.．.．..．．.....．.．．..．．..．.... 8
．．．．.．.．..．..．．．...．．.．.．．.... ８
.．.．.....．．..．..．．....．...．..． ９
2．4机械手的手臂结构方案设计．...．．.．.．.....．.......．.．．..．．9
2．５机械手的驱动方案设计．．．.....．..．.....．......．.．．.．．...．９
..．．...．．．..．.．．..．．.．....．...．.．.．９
..．．....．....．.．..．．.．．.．.．..．.．．.....．9
...．..．...．．..．．....．..．...．．．．.．..９
第三章　手部结构设计
．.......．....．．...．．.．...．.．..．.．.．．..．．．1１
３．1．１手指的形状和分类..．.．...．..．.．．．..．.．.....．.．..．．１1
.．....．.．.....．.．.．．.．.....．.1４
3．．．....．．.．........．．...．..．．.．．１４
第四章 手腕结构设计
..．.．...．....．.....．...．.........．．......．　１9
４．2手腕的驱动力矩的计算.．...．．..．....．．.．．..．.．..．..．．．..　1９
..．....．...........．..．. 20
．2回转气缸的驱动力矩计算...．．..．．..．........．..．...2２
第五章 手臂伸缩，升降，回转气缸的设计与校核
５．1手臂伸缩部分尺寸设计与校核..．..．..．.．..．．.．．..．.．..．...23
．1尺寸设计..．...．..．．.．．.．．.．．．.．.........．．...．...23
..............．....．.．..．．...．．．..．..．...24
5 .1 .3导向装置．..．......．.．...．..．.．.．.．........．.．..2５
5 ．1　．4平衡装置....．．..．..．.．.......．.．．.．....．...．.．.2５
．......．..．....．......．．．.．..26
．．.......．．...．..．.......．...．.．．．.．..．..26.
．2尺寸校核．．......．．．..．........．.．．．..．．．.．.....．.２6
.．..．.．..．．...．.．....．．．..．..２７
...．.．...．．..．......．..．．．.．.．.．．．......．27
5．3．２尺寸校核.．．....．......．..．..．.．......．........．..27
第六章 机械手的PLC控制设计..．..．．．．....．．.....．......．...．.．.27
．．．...．．.．．.....