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,THEDESIGNOFTHISTHESISISUSEDFORTHEWRISTOFWELDINGARTICULATEDROBOTANDTHEENDOFTHEACTUATORACCORDINGTOTHEREQUIREMENTSOFTHEROBOTS’WORK,WEMAKEOVERALLDESIGNOFTHEROBOTWHENDETERMININGTHESHAPEOFTHEROBOT,DRAWINGUPTHETRANSMISSIONPATHOFTHEWRIST,SELECTINGOFDCMOTOR,ARRANGINGTHEMOTOR,THESHAFTANDTHEGEARREASONABLE,ANDCHECKINGTHESTRENGTHTHETRANSMISSIONAPPLYTOFLEXIBLESHAFTING,BELLOWSCOUPLINGANDPLANETARYGEARMECHANISM,ACHIEVINGTOPUTTHEWRIST,TURNTHEWRISTANDRAISETHEWRISTTOMENTIONTHEREQUIREMENTSOFTHESIXDEGREESOFFREEDOMTHEDESIGNSMAINLYUSESTANDARDPARTSANDCOMMONPARTS,REDUCINGTHECOSTSOFDESIGNANDMANUFACTURINGKEYWORDSDEGREEOFFREEDOM；WELDING；WRISTIII目录摘要IIABSTRACTII第1章前言111机器人的概念1111操作机1112驱动单元2113