QC15通用圆柱坐标机械手设计

I摘要科学发展观为我国工程技术的发展开辟了广阔道路，而机械手作为一种高科技自动化生产设备，已经广泛应用于国民经济的各个领域，这就对我们的教育培训部门提出了新的要求。因此，为了适应社会发展的形势，在现有技术基础上设计一台通用圆柱坐标机械手有着深远的科教意义。本课题设计的圆柱坐标型搬运机械手，主要包括机械手的总体方案设计、机械手的机械结构设计以及驱动、控制系统设计等，实现了机械手手部的四自由度运动：手臂的升降、伸缩和手腕、手臂的回转。设计中分析了该机械手的功能要求和现实意义，通过气压缸来实现手臂的升降和伸缩，采用回转气压缸来实现手腕和手臂的回转。设计的机械手结构简单、便于操作，在单片机的控制下完成预期的动作。关键词机械手；气动装置；四自由度；控制系统IAbstractScientificconceptofdevelopmentofengineeringtechnologyhasopenedupabroadroad,whiletherobotasahigh-techautomatedproductionequipment,hasbeenwidelyusedinvariousfieldsofnationaleconomy,whichtheeducationandtrainingsectorofourproposednewrequirements.Therefore,inordertoadapttothesituationofsocialdevelopment,basedonexistingtechnologytodesignateachingtyperobotsciencehasfar-reachingsignificance.Thesubjectofdesignforteachinghandlingrobots,mainlyconsistsofrobot'soveralldesign,robotmechanicalstructuredesign,aswellasdrive,controlsystemdesign,implementationofthemanipulatorhandsoffourdegreesoffreedom:thearmmovements,stretchingandwrist,arm,rotary.Thedesignoftheteachingfunctionofmechanicalhandrequirementsandpracticalsignificance,achievedbypneumaticcylinderspushthearmmovementsandstretching,rotarypneumaticcylindersusedtoachievearmandwristrotation.Manipulatordesignsimple,easytooperate,underthecontroloftheMCUtocompletethedesiredaction,givingthestudentsavisualimpression,toachievethepurposeofteachingdemonstration.KeywordsManipulatorTeachingtypeFourDegreesofFreedomSCMI目录1绪论...........................................................................................................................................11.1机械手概述.........................................................................................................................11.2机械手的组成和分类.........................................................................................................11.2.1机械手的组成.................................................................................................................11.2.2机械手的分类.................................................................................................................41.3国内外发展状况.................................................................................................................51.4课题研究的主要内容............................................................................................................71.5机械手的功能要求................................................................................................................72机械手的设计方案...................................................................................................................82.1机械手的座标型式与自由度.............................................................错误!未定义书签。2.1.1机械手的坐标型式.........................................................................错误!未定义书签。2.1.2机械手的自由度.............................................................................错误!未定义书签。2.2机械手的手部结构方案设计.............................................................错误!未定义书签。2.3机械手的主要参数.............................................................................错误!未定义书签。2.4机械手的技术参数列表.....................................................................错误!未定义书签。3机械手机械系统设计.................................................................................错误!未定义书签。3.1手部结构设计..........................................................................................错误!未定义书签。3.1.1设计时考虑的几个问题..................................................................错误!未定义书签。3.1.2手爪夹持装置的机构选型..............................................................错误!未定义书签。3.1.3手部夹紧气缸的设计......................................................................错误!未定义书签。3.2手腕结构设计........................................................................................错误!未定义书签。3.2.1手腕的自由度..................................................................................错误!未定义书签。3.2.2手腕的驱动力矩的计算..................................................................错误!未定义书签。3.3手臂结构设计........................................................................................错误!未定义书签。3.3.1手臂伸缩与手腕回转部分..............................................................错误!未定义书签。3.3.2手臂升降和回转部分......................................................................错误!未定义书签。3.3.3手臂升降气缸的设计......................................................................错误!未定义书签。3.3.4手臂回转缸体的设计......................................................................错误!未定义书签。4机械手气压系统的设计..............................................................................错误!未定义书签。4.1气压传动系统工作原理图....................................................................错误!未定义书签。4.2气动元件介绍........................................................................................错误!未定义书签。结论.................................................................................................................错误!未定义书签。致谢.................................................................................................................错误!未定义书签。参考文献.........................................................................................................错误!未定义书签。11绪论1.1机械