关节式机械手设计——底座结构设计

车辆工程专业毕业文档，文档编号:JX872  文档字数:8554.页数:24

摘     要
 今日的机械手所代表的意义已远超过于以往传统的机械手的功能，已广泛使用于增进制造的目标如：电焊接、涂装，组合和机械制程控制。现代技术已能生产功能强大的关节式机械手。例如，在医学方面能够协助外科手术以及医院的看护。并且现代机械手已具备有自主性及与人类社会性的潜能。
    本人所设计的是关节式机械手硬件部分中的手臂，肩关节、以及肘关节的部分设计。
 其中关节伸缩通过步进电机来实现，由于电机的转速高，扭矩小，所以还需用谐波减速器来实现降速。同时为防止电机在非工作状态下手臂发生逆转，必须安装制动器。
 
 关键词：机械手   关节  步进电机  制动器 
 

The Design of the Joint Type Manipulator
—construction design of the base
Abstract
 The manipulator today has been used for enhancing manufacturing such as electric jointing, painting, combination and so on. It means much more than the traditional manipulator. Modern technology can produce strong fundamental joint type manipulator. For example, in medical area, it can assist surgical operation and hospital’s nursing. Meanwhile modern manipulator has the potential of independence and human sociality.
 What I design is the arms, shoulder joint and elbow joint of the hardware part in joint type manipulator.
 The joint flexing is realized by step-by-step electrical machinery. Because the rotate speed of electrical machinery is very high and the torque is small, it needs overtone reduction gear to change down. Meanwhile a brake must be installed to avoid the arm of the electrical machinery reverse under the shut-down condition.
 
Key word:  Manipulator; Joint; Step-by-step electrical machinery; Brake

目录

中文摘要………………………………………………………………………………i
英文摘要………………………………………………………………………………ii
目录………………………………………………………………………………...…iii
第一章    绪论…………………………………………..………………………...1-1
 1.1  研究背景和意义………………………………………………………....1-1
 1.1.1  机械手的概念………………………………………………….....1-1
 1.1.2  国内外机械手的发展现状……………………….………………1-1
 1.2  研究的方法与技术路线…………………………………………………1-3
第二章    总体方案…………………………………………….………………....2-1
 2.1  设计要求………………………………………………….……...……....2-1
 2.2  研究的基本内容………………………………………….………...……2-1
 2.3  拟解决的主要问题………………….…………………………………...2-1
第三章    设计计算…………………………………………….………………....3-1
 3.1  机械手的组成………….…....……………………………….….…. …...3-1
 3.1.3控制系统…………………………………………………………...3-2
 3.2  步进电动机.……………………………………………………………...3-2
 3.3  谐波减速器…………………………...…..…………….……………..…3-6
 3.4  部分零件的强度和寿命的校核…………………………………….….3-15
 3.5  机械手关节旋转的制动………………………………………………..3-17
第四章    总结……………………………………………………….…………...4-1
参考文献…………………………………………………………….…………..….R-1
致谢………………………………………………………………….……………...R-2

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