单片机控制三自由度圆柱坐标机械手设计

XX大学

毕业设计(论文)

单片机控制三自由度圆柱坐标机械手设计

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摘要

近代的工业机械手是由目标机械本体、控制器系统、传感装置系统、控制系统和伺服动力器系统组成，是一种模仿人的操作、自动化控制、可多次编程、能在立体空间完成各式各样作业的Mechatronics设备。工业机械手对于提高和确保产品质量，提升生产的效率，改善工人的工作条件和快速更新产品起着非常重要的作用。工业机械手技术结合了多们学科的知识。包含机构学、计算机、控制论、信息和传感技术、人工智能、仿生学等。它是当代十分活跃，应用非常广泛的领域。

机械手具有很多人类所不具有的能力，包括快速分析环境能力；抗干扰能力强，能长时间工作和工作精度高。可以说机械手是工业进步的产物，它也发挥了在当今工业的至关重要的作用。如今，机械手工业已成为世界各国备受关注的产业。

随着机械手技术的快速发展，工业机械手的应用范围正在不断扩大，提出了新要求，为提高机械手教学教育的水平，我们研制出一套以实验教学为目的的机械手演示系统。

本文阐述了机械手的发展历史，国内外的应用状况，及其巨大的优越性，提出了具体的机械手设计要求和进行了总体方案设计和各自由度的具体结构设计、计算。

关键词：机械手；工业；传动；强度

Abstract

From the industrial robot manipulator (Mechanical), controller, servo drive system and sensing device, a humanoid operation, automatic control, can repeat programming,

three-dimensional space can be completed in the various operations of the electromechanical integration automatic production agency. It to stabilize, improve the product quality, improve production efficiency, plays a very important role in improving the rapid working conditions and product. Industrial robot technology is a high-tech integrated computer, control theory, mechanism, information and sensor technology, artificial intelligence, bionics multidisciplinary and form, is the contemporary research is very active, more and more widely applied in the field.

The robot is on the environment of rapid response and the analysis judgment ability, and the machine can work continuously for long time, high precision, resistance to harsh environment capacity, in the sense that it is the product of the evolution of the machine, it is an important production and industrial and non-industrial sector, service equipment, automation equipment is indispensable the field of advanced manufacturing technology. Today, the robotics industry has become the world the concern of the industry.

With the rapid development of robot technology, the application field of industrial robot is constantly expanding, puts forward new requirements, in order to improve the robot teaching level, we developed a set of experimental teaching for the purpose of demonstration of the robot system.

This assay describes the development process of the robot, the application status at home and abroad, robot based on the specific design requirements, the overall design of the degree of freedom, the concrete structure design and calculation;

Key Words: robot; industrial; transmission; strength

目录

摘要....................................................................................................................................... I I Abstract ....................................................................................................................................III 目录..................................................................................................................................... IV 第1章绪论 (2)

1.1 机械手概念 (6)

1.2 课题研究的背景和意义 (6)

1.3 国内机械手的研究 (6)

1.4机械手的应用 (7)

第2章总体方案机构设计 (8)

2.1设计概念 (8)

2.2设计原理 (8)

第3章X向结构及传动设计 (9)

3.1 X向滚珠丝杆副的选择 (10)

3.1.1导程确定 (10)

3.1.2确定丝杆的等效转速 (10)

3.1.3估计工作台质量及负重 (10)

3.1.4确定丝杆的等效负载 (10)

3.1.5确定丝杆所受的最大动载荷 (11)

3.1.6精度的选择 (12)

3.1.7选择滚珠丝杆型号 (12)

3.2校核 (12)

3.2.1 临界压缩负荷验证 (13)

3.2.2临界转速验证 (14)

3.2.3丝杆拉压振动与扭转振动的固有频率 (14)

3.3电机的选择 (15)

3.3.1电机轴的转动惯量 (15)

3.3.2电机扭矩计算 (16)