全气动多自由度关节型机器人的结构设计.doc -- 6 元

错误未找到引用源。南京理工大学毕业设计说明书论文作者学号学院系机械工程学院专业机械工程及自动化题目全气动多自由度关节型机器人的结构优化研究指导者姓名专业技术职务评阅者姓名专业技术职务2007年6月毕业设计说明书（论文）中文摘要由于气动机器人具有运动速度快、成本低、绿色环保等特点，被广泛应用于各工业生产领域中。相比于直角坐标型机器人而言，关节型机器人具有操作灵活、适用范围广、占地面积小等优点。SMC南京技术中心在前期的研究中，开发了一种全气动多自由度关节型机器人，制作了样机并进行了试验研究。前期的研究发现，该关节型机器人的腰部回转关节存在较大的定位误差，很大程度地影响了该机器人的工作精度和可靠性。为了解决这一问题，论文在分析了原有结构方案的基础上对全气动多自由度关节型机器人的腰部回转关节进行结构优化设计和试验研究，具体完成的工作如下1分析了腰部回转关节原有结构的齿轮齿条传动的缺点以及引起定位振动的原因，在综合分析了各种传动方式优缺点的基础上，研究了腰部回转关节的总体优化方案。2对同步带传动进行了结构设计，并制作了改进结构的实物装置，对装置进行了装配和调试。3对改进的同步带传动装置进行了试验研究，结果表明优化后的腰部关节能够有效地减小在定位时的振动，提高了气动机器人的腰部关节的定位精度。关键词气动机器人同步带结构优化机械设计本科毕业设计说明书（论文）毕业设计说明书（论文）外文摘要TitleResearchonstructuraloptimizationofthemultiDOFarticulatedpneumaticrobotAbstractThepneumaticrobothaslotsofsignificantadvantages,suchashighspeed,lowcostandnopollution.Ithasbeenwidelyusedinindustrialmanufacturenow.Comparedwithcartesiancoordinatepneumaticrobot,articulatedpneumaticrobothassmallerdimension，butlargerworkspace,andcanmeettheneedofvariestasks.SMCNanjingpneumatictechnologycenterhaddevelopedapneumaticmultiDOFarticulatedrobot.Aprototypehadbeenmanufacturedandsomeexperimentalresearchhadbeendone.Ithadbeenfoundedthatthepositioningerroratthejointofwaist,reducedtheprecisionandreliabilityofthepneumaticrobot.Tosolvethisproblem,structuraloptimizationandexperimentalresearchhavebeendoneforthejointofwaist,onthebasisofanalyzingthepreviousstructure.Themainworksaccomplishedinthepaperinclude1Thediscussionoftheshortcomingsofgearracktransmissionandthereasonforthelocationvibration.Comparedwithvarioustransmissions,theschemeofoptimumdesignispresented.2Thedesignofthestructureofsynchronousbelttransmission,andtheassemblypartsofthemodel.3Thetestingoftheoptimizedstructure.Theresultshowsthattheoptimizedjointatthewaistcanreducethevibrationeffectively,andimprovetheaccuracyofthepneumaticrobot.KeywordPneumaticrobotSynchronousbeltStructuraloptimizationMechanicaldesign本科毕业设计说明书（论文）目次1绪论....................................................................................................................................11.1课题研究的背景和意义.................................................................................................11.2国内外气动机器人的研究现状.....................................................................................11.3本课题研究的内容.........................................................................................................42全气动关节型机器人的结构优化总体技术方案............................................................62.1现有系统的结构分析.....................................................................................................62.1.1腰部回转运动原有结构的分析..................................................................................72.1.2直线运动转换为旋转运动的几种形式......................................................................82.1.3齿侧间隙....................................................................................................................102.2系统结构优化总体技术方案.......................................................................................102.2.1同步带传动................................................................................................................102.2.2同步带的分类............................................................................................................112.2.3同步带传动的优点....................................................................................................112.2.4圆弧齿同步带传动....................................................................................................123全气动关节型机器人的优化结构研究..........................................................................143.1圆弧齿同步带传动结构设计.......................................................................................143.2机械结构的设计和计算...............................................................................................163.2.1同步带轮的设计计算................................................................................................163.2.2机架轴承的选用........................................................................................................183.3机械结构的强度校核...................................................................................................193.3.1带轮轴的强度校核....................................................................................................193.3.2平键的强度校核........................................................................................................223.3.3受力较大的螺纹联接强度校核................................................................................224全气动关节型机器人的腰关节控制方案研究..............................................................254.1ML2B伺服气缸基本特性分析.....................................................................................254.2CEU2专用控制器.........................................................................................................264.3气动机器人腰部关节气动控制回路...........................................................................275全气动关节型机器人优化结构试验研究......................................................................295.1试验方案.......................................................................................................................295.2实验结果和分析...........................................................................................................305.2.1旋转电位器的标定....................................................................................................305.2.2试验过程和结果分析................................................................................................30结论......................................................................................................................................35致谢......................................................................................................................................36参考文献..............................................................................................................................37附录......................................................................................................................................39