五轴机器人主体结构设计及运动仿真毕业设计论文

毕业论文

五轴机器人主体结构设计及运动仿真

摘要

工业机器人是一种集多学科先进技术于一体的现代制造业重要的自动化装

备，随着科学与技术的发展，工业机器人的应用领域也在不断扩大。虽然近年来我国工业机器人的需求量逐年增加，但目前国产的机器人大多还需要进口，这与我国快速的发展的工业水平不相适应。

本文以FESTO柔性生产线装配工作站的三菱工业机器人为基础，针对五轴工业机器人的主体结构进行设计，其中包括各运动关节电机和传动机构的选型设计；机器人主体机构三维建模；机器人关键零部件的三维建模和工程图绘制；通过机器人手腕、前臂、后臂、立柱和底座这几部分的结构设计及运动仿真，探讨在solidworks 软件环境下, 建立了机械手臂的三维实体建模、虚拟装配、动态模拟和干涉检查,

并运用solidworks的motion模块进行机械手臂的运动仿真,实现Solidworks软件环

境下机械手臂的虚拟设计。本设计的工业机器人采用交流伺服电机及带传动的工作方式，机器人传动环节减少，结构简单，提高了系统的精度，减少维护工作量，同时也简化了生产工艺，降低了生产成本。

关键词：工业机器人、结构设计、仿真模拟、solidworks

五轴机器人主体结构设计及运动仿真

Abstract

The industrial robot is a set of advanced technologies in the integration of multidisciplinary important modern manufacturing equipment, with the development of science and technology, the

industrial robot applications are constantly expanding. Although in recent years the demand robot of our country increases year by year, but at present homebred robot also need to be imported, and this does not suit to China's rapid industrial development level.

This paper is based on the Mitsubishi industrial robot of FESTO flexible manufacture system assembly workstation based on five axis robot, structure design, including the movement of each joint motor and transmission mechanism design of the robot body mechanism; 3D modeling; robot key parts of the 3D modeling and engineering drawing; through the robot wrist, forearm, arm a column and a base, the parts of the structure design and the movement simulation, discusses in the SolidWorks software environment, to establish a mechanical arm of the 3D solid modeling, virtual assembly, dynamic simulation and interference check, and by using the SolidWorks motion module for mechanical arm movement simulation, implementation of Solidworks software environment for virtual design of mechanical arm. The design of the industrial robot driven by AC servo motor and belt transmission mode, the robot transmission link is reduced, and has the advantages of simple structure, improve the precision of the system, reduces the maintenance workload, but also simplifies the production process, reduce the production cost.

Key words: industrial robot, structure design, simulation, SolidWorks

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五轴机器人主体结构设计及运动仿真

目录

第一章绪论 (1)

1.1 选题背景 (1)

1.2 国内外研究综述 (2)

1.3 研究现状 (4)

1.4 研究意义 (7)

第二章设计选型 (8)

2.1 机构选型 (8)

2.1.1 运动机构 (8)

2.1.2 传动机构 (10)

2.1.3 控制机构 (11)

2.2 电机选型 (13)

第三章机械部分设计 (18)

3.1 设计内容 (18)

3.1.1 机器人手腕设计 (18)

3.1.2 机器人前臂设计 (20)

3.1.3 机器人后臂设计 (22)

3.1.4 机器人立柱设计 (24)

3.1.5 机器人底座设计 (27)

第四章机器人装配及运动仿真 (29)

4.1 机器人装配 (29)

4.2 机器人运动仿真 (42)

第五章市场前景 (44)

5.1 市场分析 (44)

第六章总结与展望 (45)

6.1 总结 (45)

6.2 展望 (45)

致谢 (46)

参考文献 (47)

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