2019年五自由度关节型机器人的结构及其仿真分析毕业.doc

摘要机械手因其较高灵活性和通用性，在生活、制造等各个领域中都扮演着极其重要的角色。它可以搬运货物，分拣物品，并能够在在有害环境下操作以保护人身安全，代替人的繁重劳动，因此被广泛应用于机械制造、轻工以及需求物品搬运等各种场所。本次设计的研究方向是五自由度关节型机器人的结构设计及其仿真分析，在确定了设计方案以后，就开始查阅机器人的相关资料，以便以后的设计能顺利进行。然后就是对机械手的几大部分进行了相关计算，确定了相关数据以后，二维的CAD、CAXA随即开了运行，而后就是到PRO/E的三维实体设计，机械手的各部分的实体模型也随之而出。最后进行的便是ADAMS的仿真，将需要的数据输入以后，机械手便可以根据要求运动，同时截取了一些重要的线性图，提高了本次设计的机械手的可行性、科学性。关键词：机械手；结构；计算；数据；AbstractBecauseofitshighflexiblemanipulatorsanduniversality,inlife,invariousfieldssuchasplaysaveryimportantrole.Itcancarrygoods,articles,andcanbesortedinharmfulenvironmenttoprotectpersonalsafetyoperation,insteadofheavylabor,therefore,arewidelyusedinmachinerymanufacturing,lightindustryandthedemandforhandlingitems.Thisdesignresearchdirectionisfivedofjointsoftherobotstructuredesignandsimulationanalysis,indeterminingthedesignplanlater,begantorefertotherelatedinformation,soastomakerobotsafterdesigncanbecarriedoutsmoothly.Thenafewmostofmanipulatoriscarriedontherelatedcalculation,determinetherelevantdatalater,two-dimensionalCAD,CAXAimmediatelyopenedrun,andthenistoPRO/E,thethree-dimensionaldesignofthemanipulatoreachpartofentitymodelalsosubsequentlyandout.Finallythesimulationisconducted,willneedtoADAMSafterthedatainputaccordingtorequirements,manipulatorcanexercise,meanwhileinterceptingthesomeimportantlinearfigure,improvethedesignofthemanipulatorofpractical,scientificKeywords：Manipulator,formation，Calculation;data目录摘要............................................................IAbstract....................................................II第一章绪论................................................11.1机器人的概念........................................................11.2我国机器人研究现状..................................................11.3工业机器人概述......................................................21.4工业机器人研究的现状与意义..........................................31.5论文研究的主要内容..................................................3第2章五自由度机器人方案的设计................................52.1机器人机械设计的特点................................................52.2与机器人有关的概念..................................................52.3设计方案............................................................62.3.1底座设计方案...................................................62.3.2手臂结构方案设计...............................................62.3.3手爪的设计方案.................................................72.3.4腕部结构的设计.................................................8第3章五自由度机器人的结构设计...............................103.1手爪结构设计.......................................................103.1.1手部结构设计的基本要求........................................103.1.2夹紧力计算....................................................103.1.3驱动力计算....................................................113.1.4楔块等尺寸的确定..............................................123.1.5材料及连接件选择..............................................123.2腕部结构设计计算....................................................133.2.1腕部回转关节的设计............................................133.2.2腕部俯仰关节的设计............................................133.2.3腕部材料的选择................................................143.3大臂和小臂结构设计.................................................143.3.1小臂的结构设计................................................143.3.2大臂的结构设计................................................143.3.3臂部材料的选择................................................153.4腰部结构的设计......................................................153.4.1腰部材料的选择................................................163.5底座结构设计........................................................163.6轴承的选择.........................................................16第4章五自由度机器人的三维造型...............................174.1概述................................................................174.1.1Pro/E的主要功能..............................................174.1.2主要特征......................................................194.2机器人各部件实体模型的建立..........................................204.2.1手爪的实体模型................................................214.2.2手腕的实体模型................................................224.2.3大臂与小臂实体模型建立........................................234.2.4底座的实体模型................................................264.2.5.轴承的实体模型................................................304.3机器人的整体实体模型...............................................31本章小结...............................................................31第5章ADAMS的运动学仿真......................................325.1ADAMS基本简介......................................................325.2用户界面模块（ADAMS/View）..........................................335.3求解器模块(ADAMS/Solver)..........................................355.4后处理模块（ADAMS/Postprocessor）...................................355.5设定仿真变量........................................................365.6图表及数据处理......................................................38第6章全文总结...............................................41参考文献......................................................42致谢..........................................................43第一章绪论1.1机器人的概念机器人（Robot）是自动执行工作的机器装置。它既可以接受人类指挥，又可以运行预先编排的程序，也可以根据以人工智能技术制定的原则纲领行动