多自由度机械手设计论文[带图纸].doc -- 45 元

1毕业设计（说明书）题目多自由度机械手设计专业XXXXXXXXXXXXXXXXXXXXX学生姓名学号指导教师论文字数完成日期2013年X月I摘要随着现代科学技术的发展，机器人技术越来越受到广泛关注，在工业生产日益现代化的今天，机器人的使用变得越来越普及。因此，对于机器人技术的研究也变得越来越迫切，尤其是工业机器人方面。本论文作者针对这一领域，设计了一款液压机械机械手，该机器人拥有五个自由度。首先，作者针对该机器人的设计要求，对结构设计选择了一个最优方案，对关键零件设计并进行校核。本课题是一个机械、液压紧密的实用性项目，文中对机械手机械结构的设计、液压系统的设计讨。最后，总结了全文，指出了机械手的改进措施、应用前景和发展方向。关键字机械手，液压系统，五个自由度IIAbstractWiththedevelopmentofmodernscienceandtechnology,therobottechnologyhasbeenpaidmoreandmoreattention,inanincreasinglymodernizedindustrialproduction,theuseofrobotsisbecomingmoreandmorepopular.Therefore,theresearchofrobottechnologybecomesmoreandmoreurgent,especiallyindustrialrobots.Theauthorofthisthesisinthisfield,designofahydraulicmechanicalmanipulator,therobothasfivedegreesoffreedom.Firstofall,theauthoraccordingtotherequirementofthedesignofthisrobot,anoptimalschemeofthestructuredesignoftheselection,thedesignofkeypartsandchecked.Thistopicisamechanical,hydraulicclosepracticalproject,designofmechanicaldesign,mechanicalstructureofthehydraulicsystemofthemobilephonein.Finally,summarizedthefulltext,pointsouttheimprovementmeasures,manipulatorapplicationprospectanddevelopmentdirection.Keywordsmanipulator,hydraulicsystem,fivedegreesoffreedomXXXX大学本科毕业设计说明书III目录摘要.................................................................................................................................IAbstract.........................................................................................................................II第1章绪论..................................................................................................................11.1选题背景及其意义..........................................................................................11.2国内外研究现状与发展趋势..........................................................................11.3本设计主要研究的内容..................................................................................3第2章机械手的总体设计..........................................................................................42.1机械手的组成及各部分关系概述..................................................................42.2机械手的设计分析..........................................................................................42.2.1设计要求................................................................................................42.2.2总体设计任务分析................................................................................42.2.3总体方案拟定........................................................................................6第3章机械手结构的设计分析..................................................................................83.1末端操作器的设计分析..................................................................................83.2手腕的设计分析..............................................................................................83.3手臂的设计分析..............................................................................................83.4机身和机座的设计分析..................................................................................9第4章机械手各部件的载荷计算............................................................................114.1设计要求分析................................................................................................114.2手指夹紧机构的设计....................................................................................114.3手臂伸缩机构载荷的计算............................................................................124.4手臂俯仰机构载荷的计算............................................................................134.5机身摆动机构载荷力矩的计算....................................................................134.6初选系统工作压力........................................................................................14第5章机械手各部件结构尺寸计算及校核............................................................165.1手腕油缸尺寸的确定....................................................................................165.2手臂伸缩机构结构尺寸的确定....................................................................195.3手臂俯仰机构结构尺寸的确定....................................................................195.4机身摆动机构的确定....................................................................................195.5强度校核........................................................................................................195.6弯曲稳定性校核............................................................................................20第6章液压系统的设计............................................................................................226.1制定基本方案................................................................................................226.1.1基本回路的选择..................................................................................22XXXX大学本科毕业设计说明书IV6.2液压元件的选择............................................................................................226.2.1液压泵的选择......................................................................................226.2.2液压泵所需电机功率的确定..............................................................246.2.3液压阀的选择......................................................................................246.2.4液压辅助元件的选择原则..................................................................256.2.5油箱容量的确定..................................................................................266.2.6液压原理图..........................................................................................27结论..............................................................................................................................29参考文献......................................................................................................................30