工件十字轴取料机械手设计+文献综述
关键词 取料机械手 圆柱坐标系 三自由度 气动驱动 Title The Design of Automatic Material Taking Manipulator
Abstract
This article describes the design process of reclaimer robot for
universal joint, the robot uses a cylindrical coordinate system, with a
total of three degrees of freedom, using pneumatic drive. First of all,
analyse the workpiece and working conditions to determine the overall
scheme; Second, for each part of the manipulator, respectively, carry out
its structural design, strength check, etc. and use SolidWorks software
to carry out its three-dimensional modeling; Then, analysis of the
manipulator workspace, the manipulator the overall layout, to determine
the relative position of the manipulator and the workpiece; Finally, to
determine the sequence of movement of the manipulator, and animation by
computer simulation of the work process. The robot this project planning
and design is able to accurately complete the movement and positioning
of the workpiece and has a good practical value for reducing labor
intensity and difficulty, improving work efficiency and quality, reducing
production costs.
Keywords reclaimer manipulator cylindrical coordinate system
three degrees of freedom pneumatic drive
目录
1 绪论 1
1.1 机械手概述 1
1.2 工业机械手的特点及应用意义 1
1.3 搬运机械手发展状况 3
2 机械手总体设计 · 5
2.1 设计内容与设计要求 5
2.2 十字轴零件 6
2.3 总体方案设计 · 7
2.4 气缸的选择 9
3 机械手结构设计 · 13
3.1 机械手手部设计 · 13
3.2 水平伸缩手臂设计 16
3.3 升降手臂设计 · 20
3.4 转动关节及基座设计 22
4 整体布局及工作空间的分析 · 25
4.1 机械手整体布局 · 25
4.2 机械手工作空间的分析 · 29
结 论 31
致 谢 32
参 考 文 献 · 33
1 绪论
1.1 机械手概述
机器人(Robot)是现代科学技术发展的必然产物，科技的发展最重要的特征之一
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