机械手方面毕业设计论文

摘要

机器人是一种人类很早就梦想制造的，具有仿生性而且处处听命于人的自动化机器.它可以帮助人们完成很多危险，繁重，重复的体力劳动而进入各种服务领域。历经数十年的发展变化，机器人技术不断进步和创新，在诸多领域都有着机器广泛的研究和应用。

仿真技术是机器人研究领域中的一个重要部分。随着机器人研究的不断深入和机器人领域的不断拓展，机器人仿真系统作为机器人设计和研究的经济、可靠、灵活方便的工具，发挥着越来越重要的作用,它对于验证机器人的工作原理、工作空间等具有非常重要的意义[1]。

通过对机械设计制造及其自动化专业大学本科四年的所学知识进行整合，对工业机械手各部分机械结构和功能的论述和分析，设计了一种圆柱坐标形式的数控机床上下料机械手。重点针对机械手的腰座、手臂、手爪等各部分机械结构以及机械手控制系统进行了详细的设计。具体进行了机械手的总体设计，腰座结构的设计，机械手手臂结构的设计，机械手腕部的结构设计，末端执行器（手爪）的结构设计，机械手的机械传动机构的设计，机械手驱动系统的设计。同时对液压系统和控制系统进行了理论分析和计算。基于对机械手的控制系统进行了深入细致的设计，通过对机械手作业的工艺过程和控制要求的分析，设计了控制系统的硬件电路，同时编制了机械手的控制程序。设计达到了设计的预期目标。

关键词：机械手；液压伺服定位；机械手控制

Title：Hydraulic design of manipulator

Abstract

Robot is the thing that people want to make a long time ago. It is a automated machine with bionic and take orders from people everywhere. It can help people to complete the many dangerous, heavy, repetitive manual labor and access to various services. After decades of development and change, there is continuous improvement and innovation in robotics, in many areas with extensive research and application.

Robot simulation technology is an important part of the field With the further research and the more using of industry robot, the function of Robot Simulation System has become more and more important as the economical and reliable tool of robot design and study, The Simulation System has a significant, meaning for the verification of the working theory and the working space of robots。

Integrate the knowledge of the past four years’ of undergraduate course of Machine, discuss and analysis the each part and function of manipulator; design a kind of cylinderical coordinate manipulator used to pack and unload work piece for CNC machine tools. In particular, made the detailed design about base, arm, and end effector and the control system etc. including Total design, waist’s construction design, the arm’s construction design, the wrist’s construction design,the end effector’s construction design, and the drive system of manipulator. At the same time, analysis and compute the hydraulic pressure system and control system. Deeply design the manipulator’s control system. After analysis about the craft process and the requests of the manipulator, the hardware circuit and the control program of the manipulator then is designed. In a word, the design of the manipulator has come to the anticipant object.

Keywords：Manipulator；Hydraulic servo control；Manipulator control

目录

摘要 .......................................................................................................................... I Abstract ........................................................................................................................ I I 目录 ........................................................................................................................ I II 第一章绪论 ....................................................................................................... - 1 -

1.1选题的背景和意义 ................................................................................... - 1 -

1.2设计目的 ................................................................................................... - 1 -

1.3国内外研究现状和趋势 ........................................................................... - 2 -

1.4设计原则 ................................................................................................... - 2 - 第二章设计方案的论证 ....................................................................................... - 3 -

2.1机械手的总体设计 ................................................................................... - 3 -

2.1.1 机械手总体结构的类型.............................. - 3 -

2.1.2 设计具体采用方案.................................. - 4 -

2.2机械手腰座结构的设计 ........................................................................... - 4 -

2.2.1 机械手腰座结构的设计要求 ....................................................... - 4 -

2.2.2 设计具体采用方案 ....................................................................... - 5 -

2.3机械手手臂的结构设计 ........................................................................... - 5 -

2.3.1 机械手手臂的设计要求 ............................................................... - 5 -

2.3.2 设计具体采用方案 ....................................................................... - 6 -

2.4机械手腕部的结构设计 ........................................................................... - 7 -

2.4.1 机器人手腕结构的设计要求 ....................................................... - 7 -

2.4.2设计具体采用方案 ........................................................................ - 7 -

2.5机械手末端执行器（手爪）的结构设计 ............................................... - 8 -

2.5.1机械手末端执行器的设计要求 .................................................... - 8 -

2.5.2机器人夹持器的运动和驱动方式 ................................................ - 9 -

2.5.3 机器手夹持器的典型结构 ........................................................... - 9 -

2.5.4设计具体采用方案 ...................................................................... - 10 -

2.6机械手的机械传动机构的设计 ............................................................. - 10 -

2.6.1工业机器人传动机构设计应注意的问题 .................................. - 10 -

2.6.2 设计具体采用方案 ..................................................................... - 11 -

2.7机械手驱动系统的设计 ......................................................................... - 11 -

2.7.1机器人各类驱动系统的特点 ...................................................... - 11 -

2.7.2机器人液压驱动系统 .................................................................. - 12 -

2.7.3 设计具体采用方案 ..................................................................... - 13 -

2.8机器人手臂的平衡机构设计 ................................................................. - 13 -

2.8.1机器人平衡机构的形式 .............................................................. - 13 -

2.8.2设计具体采用的方案 .................................................................. - 13 - 第三章理论分析和设计计算 ............................................................................. - 15 -

3.1确定液压系统基本方案 ......................................................................... - 15 -

3.2拟定液压执行元件运动控制回路 ......................................................... - 15 -

3.3液压源系统的设计 ................................................................................. - 16 -