五自由度机械手结构设计-

本科生毕业设计题目：五自由度机械手结构设计院（系）：机械工程学院班级：机电08-3姓名：田国玉学号：5指导教师：陈焕林教师职称：讲师I摘要本课题设计的多功能机械手为通用机械手，主要由手爪、手腕、手臂、腰部、机座等组成。本机械手机身采用机座式，自动线围绕机座布置。具有腰部旋转、大臂仰俯、中臂仰俯、小臂仰俯和腕部旋转5个自由度。本次设计的机械手能对不同物体完成多种动作。工业机械手可以代替人手的繁重劳动，显著减轻工人的劳动强度，提高劳动生产率和自动化水平。工业生产中经常出现的笨重工件的搬运和长期频繁，单调的操作。如果没有机械手,那么工人的劳动强度是很高的，有时候还要用行车员工件，生产速度大大延缓，这种情况采用机械手是很有效的。此外，它能在高温、低温、深水、宇宙、反射性和其他有毒、有污染环境条件上进行操作。更显其优越性，有着广阔的发展前途。关键词：机械手；关节型；五自由度IIAbstractThedesignofmultifunctionalmechanicalhandforuniversalmechanicalhand,mainlybythegripper,wrist,arm,fuselage,andbasecomposition,withfeeding,reversalandtranspositionofavarietyoffunctions,andaccordingtotheautomaticlinewiththeunifiedproductioncycletimeandproductionprogramcompletedmoreaction.Themobilephonebodyadoptsthebasetype,automaticlinearoundthebaselayout.Withtherotationofthewaist,armpitching,pitchingarm,wristrotationandflexion-extensionand5degreesoffreedom.Industrialrobotscanreplacethehandsofheavylabor,significantlyreducelaborintensity,andimprovelaborproductivityandautomationlevel.Industrialproductionoftenappearsintheheavyworkfrequently,handlingandlong-termoperation,ifnotdrabrobotsthatlaborintensityishigh,sometimesevenwithemployees,drivingspeedgreatlyretard,thiskindofcircumstanceusingmanipulatorisveryeffective.Inaddition,itcanbeinhightemperature,lowtemperature,water,theuniverse,reflectiveandothertoxic,environmentalpollutionconditionontheoperation.Moreshowitssuperiority,hasbroadprospects.Keywords:mechanicalhand；Fivedegreesoffreedom；JointtypeIII目录摘要...........................................................IAbstract........................................................II目录.........................................................IIICONTENTS......................................................V第1章绪论.................................................-1-1.1概述..................................................-3-1.2国内外发展及研究现状..................................-5-1.2.1国内外机械手技术的发展............................-5-1.2.2国内外机械手的应用状况............................-7-1.3本文主要内容..........................................-8-第2章关节型机械手总体设计.................................-9-2.1基本技术参数..........................................-9-2.1.1额定负载..........................................-9-2.1.2工作范围.........................................-10-2.2机械结构类型的选择...................................-10-2.2.1操作机的驱动系统设计.............................-12-2.2.2确定关节型机械手手臂的配置形式...................-13-2.3关节型机械手本体结构设计.............................-14-2.3.1机械手本体结构的传动设计.........................-14-2.3.2所设计机械手本体结构的特点.......................-15-2.4本章主要内容.........................................-16-第3章关节型机械手腰部结构设计............................-17-3.1电动机的选择.........................................-17-3.2传动系统设计.........................................-19-3.3主要零部件设计计算...................................-20-3.3.1计算各轴转速、转矩和输出功率.....................-20-3.3.2确定轴的具体尺寸.................................-20-3.3.3Ⅱ轴齿轮传动轴校核...............................-21-3.4齿轮的设计............................................-25-3.4.1选择材料.........................................-25-IV3.4.2压力角的选择.....................................-25-3.4.3齿数和模数的选择.................................-25-3.4.4齿宽系数.........................................-26-3.4.5大齿轮的校核.....................................-26-3.5轴承的设计与选用......................................-29-3.5.1轴承选择的原则...................................-29-3.5.2轴承的选用与配合.................................-30-3.5.3轴承的校核.......................................-31-3.6本章主要内容.........................................-33-第4章机械手大臂、中臂与小臂的设计.......................-34-4.1大臂的设计...........................................-34-4.2中臂的设计...........................................-35-4.3小臂的设计...........................................-37-4.4腕部的设计...........................................-38-4.5减速机和谐波减速器的选择.............................-40-4.6本章主要内容.........................................-40-第5章同步带的选择........................................-41-5.1同步带的选择及计算...................................-41-5.1.1确定计算功率.....................................-41-5.1.2选择同步带带型...................................-41-5.1.3带轮材料的选择...................................-43-5.2本章主要内容.........................................-43-第6章夹持式手部结构......................................-44-结论......................................................-46-致谢......................................................-47-参考文献....................................................-48-附录......................................................-50-VCONTENTSTaketo…………………………………………………………………………….IAbstract………………………………………………………………………..IIIThefirstchapterIntroduction……………………………………………-1-1.1overview………………………………………………………………….-3-1.2domesticandforeignresearchanddevelopment……………………..-5-1.2.1Manipulatortechnologydevelopmentathomeandabroad………..-5-1.2.2Manipulatorapplicationstatusathomeandabroad………………-7-1.3Themaincontentofthisarticle………………………………………..-7-ChaptersecondjointmanipulatorOveralldesign………………………..-7-2.1basictechnicalparameters……………………………………………….-7-2.1.1Ratedload………………………………………………