直角坐标机器人结构设计-毕业设计

辽宁科技大学本科毕业设计第I页直角坐标机器人结构设计摘要随着现代工业的不断发展，不但使传统工业的生产发生了根本性的变化，而且也对人类社会的生产产生了重大的影响。机器人作为现代工业生产的一种工具，不仅大大的提高了生产力，而且把人从各种生产环境中解放出来。目前，许多国家的工业机器人技术得到很好的发展，我国也在进行深入的研究和开发。本文主要是设计一个搬运工件的直角坐标机器人，它可以应用在自动化生产线上与人工相比具有速度快、定位精度准确的特点，具有很强的实用性能。作为直角坐标机器人结构设计，本文用了第二、三、四章详细阐述了设计过程，第五章简要介绍了机器人的控制部分，第六对机器人进行了效果分析，并总结了直角坐标机器人的特点。设计不拘泥于常规，使产品具有更广阔的发展空间，必将成为机器人的发展趋势。关键词：直线、直角坐标机器人、结构辽宁科技大学本科毕业设计第II页CartesianRobotDesignAbstractWiththecontinuousdevelopmentofmodernindustry,notonlytheproductionoftraditionalindustrieshasundergoneafundamentalchange,butalsotheproductionofhumansocietyhashadamajorimpact.Robotasatoolofmodernindustrialproduction,notonlygreatlyincreasetheproductivityandtheproductionenvironmentfromavarietyofliberation.Currently,manycountrieshaveverygoodindustrialrobottechnologydevelopment,Chinaisalsoin-depthresearchanddevelopment.PortersofthispaperistodesignapieceoftheCartesiancoordinaterobot,whichcanbeusedinautomatedproductionlinesandartificialcomparedtofast,accuratepositioningaccuracycharacteristics,withstrongpracticalperformance.Asthedesignoftheright-anglecoordinaterobot,thetextusesthesecondthethirdandtheforthchapterstosaytheprocessofthedesign.Thefivechapterbrieflydescribessomeoftherobot'scontrol.ThesixthchapterscarriedouteffectivenessanalysisandsummarizesthecharacteristicsofaCartesiancoordinaterobot.Thedesignmakestheproductshavemuchmoredevelopment,whichmustbethecurrentofrobot'sdevelopment.Keywords:StraightlineCartesiancoordinateStructure辽宁科技大学本科毕业设计第III页目录摘要............................................................................................................................................IAbstract...................................................................................................................................II一绪论.................................................................................................................................11.1选题背景......................................................................................................................11.2直角坐标机器人的应用及分类..................................................................................11.3当前机器人技术的发展..............................................................................................21.3.1机器人发展的概况...........................................................................................21.3.2直角坐标机器人的发展情况...........................................................................41.4选题的意义和目的及设计基本步骤..........................................................................51.5本文研究的主要内容..................................................................................................5二直角坐标机器人的工作原理.....................................................................................72.1实现三个自由度运动的基本原理..............................................................................72.2末端执行器抓取工件的基本原理..............................................................................72.1.1概述...................................................................................................................72.2.2手指式手部的工作原理...................................................................................8三直角坐标机器人结构设计........................................................................................103.1直角坐标机器人外形方案的确定............................................................................103.2.1直角坐标机器人传动方式的选择.................................................................103.2.2直角坐标机器人驱动方式的选择.................................................................113.3直角坐标机器人外形尺寸的确定............................................................................113.4传动部件、驱动部件类型及主要参数的选择........................................................123.4.1传动部件参数的选择.....................................................................................123.4.2驱动部件的选择.............................................................................................193.5其它辅助部件的设计................................................................................................223.5.1直线导轨的选择.............................................................................................223.5.2滚动轴承的选择.............................................................................................233.5.3机器人拖链的选择.........................................................................................243.5.4其它部件的设计.............................................................................................243.6机械手结构设计........................................................................................................243.6.1机械手的结构特点.........................................................................................243.6.2机械手的手部尺寸及抓取范围.....................................................................253.6.3机械手传动装置的设计.................................................................................253.6.4机械手驱动装置的选择.................................................................................263.6.5机械手其它部件的选择..............................................................