2021年关节型机械手设计

关节型机械手设计

摘要机械手，顾名思义，机械原件做成的像人手一样的器械，可替代人手完成一些大量重复、复杂、危险的工作。机器手是由机械与电子相互结合产生的产品。使用机械手的目的有以下几点：劳动生产率得到提升，使 ___过程更先进，更高效，减轻人们劳动负担，改善人们的劳动环境等等。按照要求可以进行自动化技术装备。机械手可以代替手工进行工作，降低劳动消耗程度，改进在工作中所需的物质设备条件，提升单位时间制作产品的数量。经常在工业生产中出现的频繁工件无法用手工来解决的困难时，那么机械手就可以 ___替代人手进行工业生产劳动；而且，机械手的工作环境相当广泛，可以在高低温、放射性等有毒污染环境下工作，占据相当大的优势，所以机械手在工厂运作中占据着不可替代的作用。

本次课程设计基于机械设计原理，在了解了四自由度关节型机械手的基本信息后，介绍了其使用范围，按照设计原理和步骤设计了一台有着四自由度的关节型机械手。机械手的发明极大地改善了工人的工作环境，简化了工人的工作内容，提高整体的生产劳动效率，是人类生产活动中有利的帮手。本论文运用了机械手工作原理和设计、四自由度设计等各方面的专业知识，在设计四自由度的关节型机械手的过程中，结合已有的知识解决过程中的难题，并进行深入探讨，如何在已有的基础上融入自己的创意和想法，使机械手设计得更为简洁，实用性更强。

关键词：关节型机械手，机械设计，四自由度 ABSTRACT The

___nipulator, as the name implies, is a hu ___n-like devi ___ ___de of mechanical originals, which can repla ___ a

lot of repetitive, plicated and dangerous work. The robot

is a product produ ___d by the bination of ___chinery and electronics. The purpose of using the robot is as follows: the labor productivity is improved, the pro ___ssing pro

___ss is more advan ___d, more efficient, the labor burden is redu ___d, the working enviro ___ent is improved, and the like. Auto ___ted technical equipment is available upon request. The robot can repla ___ the ___nual work, redu ___ the labor consumption, improve the physical and equipment conditions required in the work, and increase the number of products produ ___d per unit time. When the frequent ourren ___ of frequent workpie ___s in industrial production cannot be solved by hand, it is the most effective way to use the robot at this time; moreover, the robot can work under high and low temperature, radioactive and other toxic pollution enviro ___ents, oupying considerable advantages. Therefore, the robot plays an irrepla ___able role in the operation of the factory. This course design is based on

the mechanical design principle. After understanding the basic infor ___tion of the four-degree-of- ___ articulated ___nipulator, the scope of its use is introdu ___d. An articulated ___nipulator with four degrees of ___ is designed aording to the design principles and steps. The invention of the robot greatly improved the working enviro ___ent of the workers, simplified the work content of the workers, and improved the overall production labor efficiency, which is a favorable helper in hu ___n production activities. This thesis uses the professional knowledge of the working principle , and in-depth discussion, How to integrate your own ideas and ideas on the existing basis, so that the robot is designed to be more concise and practical. Key Words: Articulated

___nipulator； Mechanical Design； Four degrees of ___ 目录1 绪论 1 1.1 引言 1 1.2 设计目的 2 1.3 关节机械手研究概况 2 1.3.1 国外研究现状 2 1.3.2国内研究现状 3 1.4 关节型机械手

构成机件的作用 4 2 总体方案设计 5 2.1 机械手工程概述 5 2.2 工业机械手总体设计方案论述 6 2.3 机械 ___械传动原理 7 2.4 机械手总体方案设计 8 3手部设计计算 9 3.1对手部设计的要求 9 3.2拉紧装置 10 3.3机械运动范围（速度） 12 3.4手部右腔流量12 3.5手部工作压强 12 4 ___关节的设计计算 12 4.1驱动方式的