并联六自由度微动机器人机构设计说明书.doc

I摘要为了提高生产效率和焊接质量，满足特定的工作要求，本题设计用于焊接的关节型机器人的手腕和末端执行器。根据机器人的工作要求进行了机器人的总体设计。确定机器人的外形时，拟定了手腕的传动路径，选用直流电动机，合理布置了电机、轴和齿轮，设计了齿轮和轴的结构，并进行了强度校核计算。传动中采用了软轴、波纹管联轴器和行星齿轮机构，实现了摆腕、转腕和提腕的六个自由度的要求。设计中大多采用了标准件和常用件，降低了设计和制造成本。关键词：自由度；焊接；手腕IIAbstractInordertoimprovetheproductionefficiencyandweldingquality,tomeetthespecificrequirementsofthework,thedesignofthisthesisisusedforthewristofweldingarticulatedrobotandtheendoftheactuator.Accordingtotherequirementsoftherobotswork,wemakeoveralldesignoftherobot.Whendeterminingtheshapeoftherobot,drawingupthetransmissionpathofthewrist,selectingofDCmotor,arrangingthemotor,theshaftandthegearreasonable,andcheckingthestrength.Thetransmissionapplytoflexibleshafting,bellowscouplingandplanetarygearmechanism,achievingtoputthewrist,turnthewristandraisethewristtomentiontherequirementsofthesixdegreesoffreedom.Thedesignsmainlyusestandardpartsandcommonparts,reducingthecostsofdesignandmanufacturing.Keywords:degreeoffreedom；welding；wristIII目录摘要.IIAbstract.II第1章前言.11.1机器人的概念.11.1.1操作机.11.1.2驱动单元.21.1.3控制装置.21.1.4人工智能系统.21.2题目来源.21.3技术要求.21.4本设计要解决的主要问题及设计总体思路.2第2章国内外研究现状及发展状况.42.1研究现状.42.1.1工业机器人.42.1.2先进机器人.52.2发展趋势.7第3章总体方案设计.93.1机械结构类型的确定.93.1.1圆柱坐标型.93.1.2直角坐标型.93.1.3球坐标型.93.1.4关节型.93.1.5平面关节型.93.2工作空间的确定.103.3手腕结构的确定.113.4基本参数的确定.11第4章手腕的结构设计与计算.124.1机器人驱动方案的分析和选择.124.2手腕电机的选择.134.2.1提腕电机的选择.134.2.2摆腕和转腕电机的选择.13IV4.3传动比的确定.134.3.1提腕总传动比的确定.134.3.2转腕和摆腕传动比的确定.144.4传动比的分配.144.5齿轮的设计.154.5.1提腕部分齿轮设计.154.5.2转腕部分齿轮设计.224.5.3摆腕部分齿轮设计.244.6轴的设计和校核.264.6.1输出轴的设计.264.6.2传动轴的设计.264.6.3轴的强度校核.294.7夹持器的设计.334.8壳体的设计.33结论.35致谢.36参考文献.37VCONTENTSAbstract.错误!未定义书签。chapter1.错误!未定义书签。1.1theconceptoftherobot.错误!未定义书签。1.1.1CaoZuoJi.错误!未定义书签。1.1.2Driveunit.21.1.3Controldevice.21.1.4Systemofartificialintelligence.21.2Topicsource.错误!未定义书签。1.3Technicalrequirements.错误!未定义书签。1.4Thisdesigntosolvethemainproblemsoftheoverallthinkinganddesign.错误!未定义书签。Chapter2researchsituationanddevelopment.42.1researchstatus.42.1.1industrialrobots.42.1.2Advancedrobot.52.2Developmenttrend.7Chapter3overallschemedesign.93.1Thedeterminationofthemechanicalstructuretypes.93.1.1Cylindricalcoordinatestype.93.1.3Sphericalcoordinatestype.93.1.5Planejointtype.93.2thedeterminationofworkspace.103.3thedeterminationofwriststructure.113.4Thedeterminationofthebasicparameters.11Chapter4ofthewriststructuredesignandcalculation.124.1robotanalysisandchoosedrivingscheme.124.2Thechoiceofwristmotor.134.2.1Mentionthechoiceofwristmotor.134.2.2Awristandturnwristmotorchoice.134.3Determinethetransmissionratioofthe.错误!未定义书签。4.3.1Mentionthetransmissionratioofthewristalways