仿人柔性机械手说明书.doc

仿人柔性机械手说明书.doc毕业设计（论文）
毕业设计（论文）
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仿人柔性机械手设计
摘要
灵巧机械手是近年来机器人领域讨论的热门话题，世界上很多国家的研究机构都开展 了关于机械手的研究。本文重点讨论了机械手的运动系统，包括机构，传动和驱动，本课 题主要研究内容如下：
第一章 概述。主要介绍课题来源、国内外现状以及本文所要作的工作。
第二章 灵巧机械手总体方案设计。先后介绍了灵巧机械手总体方案的初步设计，灵
巧机械手的设计步骤、主要参数的计算、关键的结构设计，机械传动系统和电气驱动设计
第三章 对方案二的改进设计综述。论述了方案二的结构与传动设计。
第四章 关键结构（零部件）的分析和设计。为了提高机械手的运动速度和控制精度，
要求机械手的传动机构具有结构紧凑、体积小、重量轻、无间隙和响应快的特点。
第五章 总结和提高。本章是对全文的总结，在总结的基础上进一步的指出了本课题 研究存在的问题，及灵巧机械手研究发展方向等。
关键词：仿人柔性机械手工作原理机构设计自由度
毕业设计（论文）
毕业设计（论文）
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Desig n of Huma noid Flexible Man ipulator
Abstract
The flexible mani pulator is the hot issue that the robot realm discusses in rece nt years and Many research in stituti ons have con ducted research on the robot. This essay discussed the sport system of flexible manipulator, include mechanism, transmission and drive, this topic mainly studied the contents as follows:
Chapter 1 Outl ine. In troduce the subject of the source of the topic at home and abroad as well as the work which will be accomplished.
Chapter 2 Overall program design. Introduce the preliminary design of the dexterous manipulator of the overall program, design steps, the calculation of the main parameters, the key structural desig n, mecha ni cal tran smissi on, and electric-drive n desig n.
Chapter 3 The pla n of the two desig n improveme nt. Discusses the structre and tran smissi on desig n
Chapter 4 Analysis and design of key structures (parts). In order to improve the robot's moveme nt speed and con trol accuracy, the robot drive mecha nism has a compact structure, small size, light weight, seamless and fast resp on se.
Chapter 5 Summarize and improve. This chapter is a summary of the full text, and further poin ted out the problems in this research, and Dexterous Mani pulator direct ion of developme nt on the basis of sum ming up.
Keywords： Flexible manipulator; Working principle; Mechanical design; Freedom degree
毕业设计（论文）
毕业设计（论文）
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目录
引言 1
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小而强的驱动