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.KeywordsdegreeoffreedomweldingwristIII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