工业机械手设计.doc

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9届本科毕业论文（设计)
论文题目:工业机械手设计
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摘　 要
在机择．．．．.....．．．......．..........．......．　　4
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３．6 机械手的规格参数..．.......．......．.........．.．.．.......．.．. ４
　机械手手部设计计算．.......．.．．....．..．...．....．．...．．.．.．..　５
　　．1 手部设计基本要求.．.....．..．...．..．..........．．....．．.　５
３． 手部力学分析...．．.．..．.．．．............．..．.．.．...．.．． 5
　　 夹紧力与驱动力的计算．.．．.......．.．．.．........．.．．.... 7
　 手抓夹持范围计算.．.．．．.．.．..................．..．．．... ９
　 ．５ 手抓夹持精度的分析计算...．．．．.．....．．．........．..．．．. 9
机械手腕部设计计算.．.．．........．..．．..．.．．.．.．...．．.．．．．.．.10
．１ 腕部设计基本要求..．.．．．．.．．．.．....．........．．．．．..... 10
腕部的结构选择...．.．．．.．.．..．.．．．.....．.．...．.．...... １０
３． 腕部回转力矩计算.....．．.．．...．.．....．....．．.．.．.．.．.． 11
．4　腕部工作压力计算．.．.....．..．．.....．...．．.．...．....... 13
　　 　液压缸盖螺钉计算．.....．.．.....．．...．.．.．．.．.．........ 1４
　　　3．　动片和输出轴联接螺钉计算.．.........．．..．．.....．.．.．.．　１５
3．９ 机械手臂部设计计算.．．.．.．....．．.....．．．.．.．．．．.．...．...．...　1５
　 ３．　臂部设计基本要求.．.．．.......．.．...．.．..．．.．．...．．．．．． 15
　臂部的结构选择....．．.．....．..．..．......．.．．．．.....．．. 16
　　　 手臂伸缩驱动力计算.....．．...．.．..．.．．.....．．.．.......　１6
　　 手臂伸缩液压缸参数计算.．....．.．．...．..．...........．．． １8
3．１0 机身升降机构计算....．.．.．．....．．．.....．.....．..．.．..．....．.19
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　 ．1　手臂偏重力矩计算．.....．.．.．．．.．......．.．．．．..．．.．．．.．19
　 　 升降导向立柱不自锁条件．．．..．.．．．..．．.........．....．．.21
　 　手臂升降驱动力计算..．.．...．．．．.......．．...．........．．2１
　3．　手臂升降液压缸参数计算....．......．...．．.．............２２
机身回转机构计算．．.．......．．..．.．......．．．．．........．．．.．. 23
　 手臂回转液压缸驱动力矩计算．．.．.....．．．.．．.．.．......．.2３
3．11．2　手臂回转液压缸参数计算..．．..．．.．..．.．.．....．.．...．..．２4
　 　 液压缸盖螺钉计算.....．．．....．.．．..．.．．.．．....．．．.．..．24
　 3．１1．４ 动片和输出轴间联接螺钉计算..．.．....．．..．......．．.....25
4 机械手装配总图..．..．．．...．．...．..．.．．．....．．......．．...．.....．...2６
5 结论．.．.．．.．．．．．．........．.．....．．．.．..．.．..．....．.．..．...．.．....27
致谢..．...