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并联六自由度微动机器人机构设计【5张图纸】【优秀】【原创】

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并联六自由度微动机器人机构设计【5张图纸】【优秀】【原创】

P并联六自由度微动机器人机构设计/PP30页9000字数说明书任务书开题报告5张CAD图纸【详情如下】/PP任务书模板DOC/PP夹持器A2DWG/PP并联六自由度微动机器人机构设计开题报告DOC/PP并联六自由度微动机器人机构设计说明书DOC/PP总装图A0DWG/PP手腕总装图A0DWG/PP零件小锥齿轮A3DWG/PP零件轴A3DWG/PPBR//PP摘NBSP要/PP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。/PPBR//PP关键词自由度;焊接;手腕/PPBR//PP目NBSP录/PP摘要SPANCLASSAPPLETABSPAN/SPANI/PPABSTRACTSPANCLASSAPPLETABSPAN/SPANII/PP第1章NBSP前言SPANCLASSAPPLETABSPAN/SPAN1/PP11NBSP机器人的概念SPANCLASSAPPLETABSPAN/SPAN1/PP111NBSP操作机SPANCLASSAPPLETABSPAN/SPAN1/PP112NBSP驱动单元SPANCLASSAPPLETABSPAN/SPAN2/PP113NBSP控制装置SPANCLASSAPPLETABSPAN/SPAN2/PP114NBSP人工智能系统SPANCLASSAPPLETABSPAN/SPAN2/PP12NBSP题目来源SPANCLASSAPPLETABSPAN/SPAN2/PP13NBSP技术要求SPANCLASSAPPLETABSPAN/SPAN2/PP14NBSP本设计要解决的主要问题及设计总体思路SPANCLASSAPPLETABSPAN/SPAN2/PP第2章NBSP国内外研究现状及发展状况SPANCLASSAPPLETABSPAN/SPAN4/PP21NBSP研究现状SPANCLASSAPPLETABSPAN/SPAN4/PP211NBSP工业机器人SPANCLASSAPPLETABSPAN/SPAN4/PP212NBSP先进机器人SPANCLASSAPPLETABSPAN/SPAN5/PP22NBSP发展趋势SPANCLASSAPPLETABSPAN/SPAN7/PP第3章NBSP总体方案设计SPANCLASSAPPLETABSPAN/SPAN9/PP31NBSP机械结构类型的确定SPANCLASSAPPLETABSPAN/SPAN9/PP311NBSP圆柱坐标型SPANCLASSAPPLETABSPAN/SPAN9/PP312NBSP直角坐标型SPANCLASSAPPLETABSPAN/SPAN9/PP313NBSP球坐标型SPANCLASSAPPLETABSPAN/SPAN9/PP314NBSP关节型SPANCLASSAPPLETABSPAN/SPAN9/PP315NBSP平面关节型SPANCLASSAPPLETABSPAN/SPAN9/PP32NBSP工作空间的确定SPANCLASSAPPLETABSPAN/SPAN10/PP33NBSP手腕结构的确定SPANCLASSAPPLETABSPAN/SPAN11/PP34NBSP基本参数的确定SPANCLASSAPPLETABSPAN/SPAN11/PP第4章NBSP手腕的结构设计与计算SPANCLASSAPPLETABSPAN/SPAN12/PP41NBSP机器人驱动方案的分析和选择SPANCLASSAPPLETABSPAN/SPAN12/PP42NBSP手腕电机的选择SPANCLASSAPPLETABSPAN/SPAN13/PP421NBSP提腕电机的选择SPANCLASSAPPLETABSPAN/SPAN13/PP422NBSP摆腕和转腕电机的选择SPANCLASSAPPLETABSPAN/SPAN13/PP43NBSP传动比的确定SPANCLASSAPPLETABSPAN/SPAN13/PP431NBSP提腕总传动比的确定SPANCLASSAPPLETABSPAN/SPAN13/PP432NBSP转腕和摆腕传动比的确定SPANCLASSAPPLETABSPAN/SPAN14/PP44NBSP传动比的分配SPANCLASSAPPLETABSPAN/SPAN14/PP45NBSP齿轮的设计SPANCLASSAPPLETABSPAN/SPAN15/PP451NBSP提腕部分齿轮设计SPANCLASSAPPLETABSPAN/SPAN15/PP452NBSP转腕部分齿轮设计SPANCLASSAPPLETABSPAN/SPAN22/PP453NBSP摆腕部分齿轮设计SPANCLASSAPPLETABSPAN/SPAN24/PP46NBSP轴的设计和校核SPANCLASSAPPLETABSPAN/SPAN26/PP461NBSP输出轴的设计SPANCLASSAPPLETABSPAN/SPAN22/PP462NBSP传动轴的设计SPANCLASSAPPLETABSPAN/SPAN27/PP463NBSP轴的强度校核SPANCLASSAPPLETABSPAN/SPAN29/PP47NBSP夹持器的设计SPANCLASSAPPLETABSPAN/SPAN33/PP48NBSP壳体的设计SPANCLASSAPPLETABSPAN/SPAN33/PP结NBSP论SPANCLASSAPPLETABSPAN/SPAN35/PP致NBSP谢SPANCLASSAPPLETABSPAN/SPAN36/PP参考文献SPANCLASSAPPLETABSPAN/SPAN37/PPBR//PPCONTENTS/PPABSTRACTSPANCLASSAPPLETABSPAN/SPANII/PPCHAPTER1SPANCLASSAPPLETABSPAN/SPAN1/PP11NBSPTHECONCEPTOFTHEROBOTSPANCLASSAPPLETABSPAN/SPAN1/PP111NBSPCAOZUOJISPANCLASSAPPLETABSPAN/SPAN1/PP112NBSPDRIVEUNITSPANCLASSAPPLETABSPAN/SPAN2/PP113NBSPCONTROLDEVICESPANCLASSAPPLETABSPAN/SPAN2/PP114NBSPSYSTEMOFARTIFICIALINTELLIGENCESPANCLASSAPPLETABSPAN/SPAN2/PP12NBSPTOPICSOURCESPANCLASSAPPLETABSPAN/SPAN2/PP13NBSPTECHNICALREQUIREMENTSSPANCLASSAPPLETABSPAN/SPAN2/PP14NBSPTHISDESIGNTOSOLVETHEMAINPROBLEMSOFTHEOVERALLTHINKINGANDDESIGNSPANCLASSAPPLETABSPAN/SPAN2/PPCHAPTER2NBSPRESEARCHSITUATIONANDDEVELOPMENTSPANCLASSAPPLETABSPAN/SPAN4/PP21NBSPRESEARCHSTATUSSPANCLASSAPPLETABSPAN/SPAN4/PP211NBSPINDUSTRIALROBOTSSPANCLASSAPPLETABSPAN/SPAN4/PP212NBSPADVANCEDROBOTSPANCLASSAPPLETABSPAN/SPAN5/PP22NBSPDEVELOPMENTTRENDSPANCLASSAPPLETABSPAN/SPAN7/PPCHAPTER3NBSPOVERALLSCHEMEDESIGNSPANCLASSAPPLETABSPAN/SPAN9/PP31NBSPTHEDETERMINATIONOFTHEMECHANICALSTRUCTURETYPESSPANCLASSAPPLETABSPAN/SPAN9/PP311NBSPCYLINDRICALCOORDINATESTYPESPANCLASSAPPLETABSPAN/SPAN9/PP313NBSPSPHERICALCOORDINATESTYPESPANCLASSAPPLETABSPAN/SPAN9/PP315NBSPPLANEJOINTTYPESPANCLASSAPPLETABSPAN/SPAN9/PP32NBSPTHEDETERMINATIONOFWORKSPACESPANCLASSAPPLETABSPAN/SPAN10/PP33NBSPTHEDETERMINATIONOFWRISTSTRUCTURESPANCLASSAPPLETABSPAN/SPAN11/PP34NBSPTHEDETERMINATIONOFTHEBASICPARAMETERSSPANCLASSAPPLETABSPAN/SPAN11/PPCHAPTER4NBSPOFTHEWRISTSTRUCTUREDESIGNANDCALCULATIONSPANCLASSAPPLETABSPAN/SPAN12/PP41NBSPROBOTANALYSISANDCHOOSEDRIVINGSCHEMESPANCLASSAPPLETABSPAN/SPAN12/PP42NBSPTHECHOICEOFWRISTMOTORSPANCLASSAPPLETABSPAN/SPAN13/PP421NBSPMENTIONTHECHOICEOFWRISTMOTORSPANCLASSAPPLETABSPAN/SPAN13/PP422ANBSPWRISTANDTURNWRISTMOTORCHOICESPANCLASSAPPLETABSPAN/SPAN13/PP43NBSPDETERMINETHETRANSMISSIONRATIOOFTHESPANCLASSAPPLETABSPAN/SPAN13/PP431NBSPMENTIONTHETRANSMISSIONRATIOOFTHEWRISTALWAYSSURESPANCLASSAPPLETABSPAN/SPAN13/PP432NBSPTURNWRISTANDAWRISTTODETERMINETHETRANSMISSIONRATIOSPANCLASSAPPLETABSPAN/SPAN14/PP44NBSPTHETRANSMISSIONRATIOOFTHEDISTRIBUTIONSPANCLASSAPPLETABSPAN/SPAN14/PP45NBSPGEARDESIGNSPANCLASSAPPLETABSPAN/SPAN15/PP451NBSPMENTIONWRISTPARTGEARDESIGNSPANCLASSAPPLETABSPAN/SPAN15/PP452NBSPTURNWRISTPARTGEARDESIGNSPANCLASSAPPLETABSPAN/SPAN22/PP453NBSPAWRISTPARTGEARDESIGNSPANCLASSAPPLETABSPAN/SPAN24/PP46NBSPAXISOFTHEDESIGNANDCHECKSPANCLASSAPPLETABSPAN/SPAN26/PP461NBSPTHEDESIGNOFTHEOUTPUTSHAFTSPANCLASSAPPLETABSPAN/SPAN26/PP462NBSPTHEDESIGNOFTHESPANCLASSAPPLETABSPAN/SPAN27/PP463NBSPAXISOFINTENSITYSPANCLASSAPPLETABSPAN/SPAN29/PP47NBSPGRIPPERSDESIGNSPANCLAS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