喷涂机器人毕业设计.doc

County continuation records has examined and approved the draft, spirit, believe, comprehensive Yearbook of zhuanglang aegrees of freedom and the other joints had three degrees of freedom．The painting robot’s joints were driven by hydraulic pressure ．
Parallelogram structure was used in the robot．The hydraulic cylinder which was installed on the waist turning table droved the forearm indirectly through the parallelogram structure．The structure avoided installing the hydraulic cylinder directly on the joint to reduce the forearm’s weight．So the burden of the hydraulic cylinder which drive the upper arm and the waist were reduced．Also this structure made the forearm realize balance itself and reduce the static torque．Aluminum alloy was used greatly in the robot，so the weight of the robot was reduced．Also the dynamic performance was improved．
Keywords：painting robot；joint；structure design

County continuation records has examined and approved the draft, spirit, believe, comprehensive Yearbook of zhuanglang already prepared draft, entered the phase of evaluation. Civil air defense work
County continuation records has examined and approved the draft, spirit, believe, comprehensive Yearbook of zhuanglang already prepared draft, entered the phase of evaluation. Civil air defense work
学习文档 仅供参考
目 录
摘　　要 I
ABSTRACT II
目 录 III
第一章 绪论 1
课题研究的背景及意义 1
2
课题国内外现状及研究的主要成果 4
国内研究现状 4
国外研究现状 5
本文研究主要内容以及背景和意义 7
第2章 总体结构设计 9
确定驱动系统 9
驱动系统 9
确定驱动件和自由度 10
喷漆机器人的运动参数 11
各个关节的结构形式和平衡方式 11
12
13
小臂的传动机构 16
大臂的传动机构 17
腰部的传动机构 18
本章小结 18
第3章 喷漆机器人机构设计 19
County continuation records has examined and approved the draft, spirit, believe, comprehensive Yearbook of zhuanglang already prepared draft, entered the phase of evaluation. Civil air defense work
County continuation records has examined and approved the draft, spirit, beli