六自由度机械手运动分析.doc

六自由度机械手毕业论文
专业机械设计制造及其自动化
课题多自由度机械手机械设计
摘要
文中设计了一种六自由度机械手。该机械手主要由底座,腰部,主板,大手臂,小手臂,手腕,夹爪组成,采用步进电机驱动,单片机控制。手臂的尺寸与人手臂的大小相当。手臂的运动主要包括:腰部转动,大手臂摆动,小手臂摆动,手腕摆动,手腕转动,夹爪夹取。,,并放到预定位置。,或者在有放射性的环境中完成特定工作。文中对机械手进行了正运动学分析, 采用齐次坐标变换法得到了机械手末端位置和姿态随关节夹角之间的变换关系,并完成了总体机械结计、步进电机选型、蜗轮蜗杆及带传动比的确定以及部分重要零件的设计。
关键词:机械手六自由度步进电机同步带。
Abstract
A kind of manipulator of six degrees of freedom has been designed in this paper. This manipulator is made up of the foundation, the waist, the big arm, the small arm, the wrist, and the claw; the manipulator is driven by stepper motor, and controlled by single chip. The size of the manipulator is equal in the size to the arms of people. otion of the manipulator includes: waist turning, big arm swung, small arm swung, wrist swung, wrist rotating, claw fetching. The radius of action is , and the accuracy is 5 mm. It can pick the light-weight object, and put it to the recalculated position. The manipulator has overload protection function, and space position self-lock function. This arm can be used in teaching, or in radioactive environments. In this paper, robot kinematic analysis is carried out using homogeneous coordinate transformation method was the end manipulator joint position and attitude with the changing relationship between the angle and stepper motor designing, physical construction designing had pleted.
Keywords: manipulator, six degrees of freedom, stepper motor, locking band.
目录
目录……………………………………………………………………………………4
1 绪论…………………………………………………………………………………6
国内机械手研状………………………………………………………………6
机械手的构成…………………………………………………………………7
机械手的发展趋势…………………………………………………………9
本设计课题的背景和意义…………………………………………………9
2 机械手的总体方案设计…………………………………………………………10
机械手基本形式的选择……………………………………………………10
机械手的主要部件及运动…………………………………………………11
驱动机构的选择……………………………………………………………12
传动机构的选择……………………………………………………………12
3 机械手的数学建模………………………………………………………………12
机器人数学基础……………………………………………………………12