圓柱坐標(biāo)型三自由度機(jī)械手設(shè)計及其控制系統(tǒng)設(shè)計【含CAD圖紙、說明書】
圓柱坐標(biāo)型三自由度機(jī)械手設(shè)計及其控制系統(tǒng)設(shè)計【含CAD圖紙、說明書】,含CAD圖紙、說明書,圓柱,坐標(biāo),自由度,機(jī)械手,設(shè)計,及其,控制系統(tǒng),cad,圖紙,說明書,仿單
圓柱坐標(biāo)型三自由度機(jī)械手設(shè)計及其控制 5
摘 要
本設(shè)計中機(jī)械手可模仿人的動作功能,用以按固定程序抓取、搬運物件或操作工具的自動操作裝置。它可代替人的繁重勞動以實現(xiàn)生產(chǎn)的機(jī)械化和自動化,能在有害環(huán)境下操作以保護(hù)人身安全,因而廣泛應(yīng)用于機(jī)械制造、冶金、電子、輕工和原子能等部門。機(jī)械手主要由手部、運動機(jī)構(gòu)和控制系統(tǒng)三大部分組成。手部是用來抓持工件的部件,根據(jù)被抓持物件的形狀、尺寸、重量、材料和作業(yè)要求設(shè)計為夾持型。運動機(jī)構(gòu),使手部完成各種轉(zhuǎn)動、移動或復(fù)合運動來實現(xiàn)規(guī)定的動作,改變被抓持物件的位置和姿勢。運動機(jī)構(gòu)的升降、伸縮、旋轉(zhuǎn)等獨立運動方式,稱為機(jī)械手的自由度。為了抓取空間中任意位置和方位的物體,需有3個自由度。
關(guān)鍵詞:機(jī)械手,設(shè)計,手部,手腕,手臂,機(jī)身,結(jié)構(gòu)
Abstract
Robot arm to mimic certain actions of staff and functions, to capture a fixed procedure, carrying objects or operating tools, automation equipment. It can replace human labor in order to achieve the heavy mechanization and automation of production, can operate in hazardous environments to protect the personal safety, which is widely used in machine building, metallurgy, electronics, light industry and nuclear power sectors.Manipulator mainly by hand, sports bodies and the control system has three major components. Task of hand is holding the workpiece of the components, according to grasping objects by shape, size, weight, material and operational requirements of the various structural forms, such as clamp type, care support and the adsorption type, etc. . Sports organizations to accomplish a variety of hand rotation, move, or complex movement to achieve the required action to change the location of objects by grasping and posture. Sports organizations lifting, stretching and rotating the independence movement, is known as freedom manipulator. Crawl space to an arbitrary position and orientation of objects, the need for six degrees of freedom. Freedom is the mechanical design of the key parameters of hand. More freedom, greater flexibility of the manipulator, the more wide versatility。
Keywords: manipulator, design, hand, wrist, arm, body, structure
目 錄
1緒論 1
1.1 國內(nèi)生產(chǎn)量 1
1.2 國內(nèi)機(jī)械手區(qū)域市場分析 1
2 機(jī)械手總體設(shè)計方案 2
2.1 機(jī)械手組成 2
2.2 機(jī)械手的規(guī)格參數(shù) 3
3 機(jī)械手手部設(shè)計計算 4
3.1 手部設(shè)計基本要求 4
3.2 手部手部力學(xué)分析 5
3.3 夾緊力與驅(qū)動力計算 5
3.4 手爪夾持范圍計算 7
3.5 手爪夾持精度的計算 8
4 珠絲杠螺母副的選型 10
4.1 提升機(jī)構(gòu)滾珠絲杠副的計算及選型 10
4.2 伸縮機(jī)構(gòu)滾珠絲杠副的計算及選型 13
5 蝸輪蝸桿傳動的設(shè)計計算 17
5.1 面接觸疲勞強度設(shè)計 17
5.2 蝸輪蝸桿的主要參數(shù)和幾何尺寸設(shè)計 18
5.3 齒根彎曲疲勞強度的校核 19
5.4 精度等級公差和表面粗糙度的確定 20
6 電機(jī)的計算和選型 21
6.1 提升步進(jìn)電機(jī)的計算及選型 21
6.2 伸縮步進(jìn)電機(jī)的計算與選型 25
6.3 蝸輪蝸桿電機(jī)的計算及選型 28
8 機(jī)械手PLC控制系統(tǒng)設(shè)計 31
7.1 接近開關(guān)的工作原理及選型 31
7.2 限位開關(guān)的工作原理及選型 31
7.3 系統(tǒng)的結(jié)構(gòu)功能和總體設(shè)計方案 31
7.4 PLC的選型及PLC外部接線圖設(shè)計 32
7.5 PLC控制系統(tǒng)的軟件設(shè)計 34
結(jié) 論 35
參考文獻(xiàn) 36
致謝 37
附件 38
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