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气动通用机械手执行系统设计【4张CAD图纸+毕业论文】

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关键词：: 气动通用机械手执行系统设计 cad图纸毕业论文气动机械手

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气动通用机械手执行系统设计

39页 16000字数+说明书+任务书+开题报告+外文翻译+4张CAD图纸【详情如下】

任务书.doc

外文翻译-机构和机器原理.doc

夹持式手部-A2.dwg

封面.doc

总装图-A0.dwg

手臂伸缩手腕回转部分-A0.dwg

摘要.doc

毕业论文申报表正面.doc

气动通用机械手执行系统设计开题报告.doc

气动通用机械手执行系统设计论文.doc

缸体-A3.dwg

QQ截图20150424140418.gif

参数.gif

缸体-A3.gif

夹持式手部-A2.gif

全部文件.gif

手臂伸缩手腕回转部分-A0.gif

总装图-A0.gif

第一章、绪论

1.1 机械手概述…………………………………………......1

1.2 机械手的组成和分类…………………………………..2

1.2.1 机械手的组成…………………………………………..2

1.2.2 机械手的分类…………………………………………..5

1.3 国内外发展状况………………………………………..6

1.4 课题的提出及主要任务………………………………..8

1.4.1 课题的提出……………………………………………..8

1.4.2 课题的主要任务………………………………………..9

第二章、机械手的设计方案

2.1 机械手的座标型式与自由度……………………………10

2.2 机械手的手部结构方案设计……………………………10

2.3 机械手的手腕结构方案设计……………………………10

2.4 机械手的手臂结构方案设计……………………………11

2.5 机械手的驱动方案设计…………………………………11

2.6 机械手的主要参数………………………………………11

2.7 机械手的技术参数列表…………………………………12

第三章、手部结构设计

3.1 夹持式手部结构…………………………………………15

3.1.1 手指的形状和分类……………………………………15

3.1.2 设计时考虑的几个问题………………………………15

3.1.3 手部夹紧气缸的设计…………………………………16

第四章、手腕结构设计

4.1 手腕的自由度……………………………………………20

4.2 手腕的驱动力矩的计算…………………………………20

4.2.1 手腕转动时所需的驱动力矩…………………………20

第五章、手臂结构设计

5.1 手臂伸缩与手腕回转部分........................25

5.1.1 结构设计………………………………………………25

5.1.2 导向装置………………………………………………26

5.1.3 手臂伸缩驱动力的计算………………………………26

5.2 手臂升降和回转部分............................27

5.2.1 结构设计………………………………………………27

5.3 手臂伸缩气缸的设计............................28

结论……………………………………………………………31

参考文献…………………………………………………………..32

致谢…………………………………………………………..34

2.7 机械手的技术参数列表

一、用途:

用于100吨以上冲床上下料。

二、设计技术参数:

1、抓重

10公斤(夹持式手部)

5公斤(气流负压式吸盘)

2、自由度数

4个自由度

3、座标型式

圆柱座标

4、最大工作半径

1500mm

5、手臂最大中心高

1380mm

6、手臂运动参数

伸缩行程600mm

伸缩速度500mn/s

升降行程200mm

升降速度300mm/s

回转范围00 -2400

回转速度900/s

7、手腕运动参数

回转范围 00--1800

回转速度1800/s

8、手指夹持范围

棒料:Ф80—Ф150mm

片料:面积不大于0. 5㎡

9、定位精度

士0. 5mm

10、缓冲方式

液压缓冲器

11、传动方式

气压传动

第三章、手部结构设计

为了使机械手的通用性更强，把机械手的手部结构设计成可更换结构，当工件是棒料时，使用夹持式手部:当工件是板料时，使用气流负压式吸盘。

3.1 夹持式手部结构

夹持式手部结构由手指(或手爪)和传力机构所组成。其传力结构形式比较多，如滑槽杠杆式、斜楔杠杆式、齿轮齿条式、弹簧杠杆式等。

3.1.1 手指的形状和分类

夹持式是最常见的一种，其中常用的有两指式、多指式和双手双指式:按手指夹持工件的部位又可分为内卡式(或内涨式)和外夹式两种:按模仿人手手指的动作，手指可分为一支点回转型，二支点回转型和移动型(或称直进型)，其中以二支点回转型为基本型式。当二支点回转型手指的两个回转支点的距离缩小到无穷小时，就变成了一支点回转型手指;同理，当二支点回转型手指的手指长度变成无穷长时，就成为移动型。回转型手指开闭角较小，结构简单，制造容易，应用广泛。移动型应用较少，其结构比较复杂庞大，当移动型手指夹持直径变化的零件时不影响其轴心的位置，能适应不同直径的工件。

3.1.2 设计时考虑的几个问题

(一)具有足够的握力(即夹紧力)

在确定手指的握力时，除考虑工件重量外，还应考虑在传送或操作过程中所产生的惯性力和振动，以保证工件不致产生松动或脱落。

(二)手指间应具有一定的开闭角

两手指张开与闭合的两个极限位置所夹的角度称为手指的开闭角。手指的开闭角应保证工件能顺利进入或脱开，若夹持不同直径的工件，应按最大直径的工件考虑。对于移动型手指只有开闭幅度的要求。

(三)保证工件准确定位

为使手指和被夹持工件保持准确的相对位置，必须根据被抓取

第一章、绪论

1.1 机械手概述

工业机器人由操作机(机械本体)、控制器、伺服驱动系统和检测传感装置构成，是一种仿人操作，自动控制、可重复编程、能在三维空间完成各种作业的机电一体化自动化生产设备。特别适合于多品种、变批量的柔性生产。它对稳定、提高产品质量，提高生产效率，改善劳动条件和产品的快速更新换代起着十分重要的作用。

机器人技术是综合了计算机、控制论、机构学、信息和传感技术、人工智能、仿生学等多学科而形成的高新技术，是当代研究十分活跃，应用日益广泛的领域。机器人应用情况，是一个国家工业自动化水平的重要标志。

机器人并不是在简单意义上代替人工的劳动，而是综合了人的特长和机器特长的一种拟人的电子机械装置，既有人对环境状态的快速反应和分析判断能力，又有机器可长时间持续工作、精确度高、抗恶劣环境的能力，从某种意义上说它也是机器的进化过程产物，它是工业以及非产业界的重要生产和服务性设各，也是先进制造技术领域不可缺少的自动化设备。

机械手是模仿着人手的部分动作，按给定程序、轨迹和要求实现自动抓取、搬运或操作的自动机械装置。在工业生产中应用的机械手被称为“工业机械手”。生产中应用机械手可以提高生产的自动化水平和劳动生产率:可以减轻劳动强度、保证产品质量、实现安全生产；尤其在高温、高压、低温、低压、粉尘、易爆、有毒气体和放射性等恶劣的环境中，它代替人进行正常的工作，意义更为重大。因此，在机械加工、冲压、铸、锻、焊接、热处理、电镀、喷漆、装配以及轻工业、交通运输业等方面得到越来越广泛的引用[1]。

机械手的结构形式开始比较简单，专用性较强，仅为某台机床的上下料装置，是附属于该机床的专用机械手。随着工业技术的发展，制成了能够独立的按程序控制实现重复操作，适用范围比较广的“程序控制通用机械手”，简称通用机械手。由于通用机械手能很快的改变工作程序，适应性较强，所以它在不断变换生产品种

的中小批量生产中获得广泛的引用[2]。

1.2 机械手的组成和分类

1.2.1 机械手的组成

机械手主要由执行机构、驱动系统、控制系统以及位置检测装置等所组成。各系统相互之间的关系如方框图1-1所示。

图(1-1机械手的组成方框图

(一)执行机构

包括手部、手腕、手臂和立柱等部件，有的还增设行走机构。

1、手部

即与物件接触的部件。由于与物件接触的形式不同，可分为夹持式和吸附式手部。夹持式手部由手指(或手爪) 和传力机构所构成。手指是与物件直接接触的构件，常用的手指运动形式有回转型和平移型。回转型手指结构简单，制造容易构件，故应用较广泛平移型应用较少，其原因是结构比较复杂，但平移型手指夹持圆形零件时，工件直径变化不影响其轴心的位置，因此适宜夹持直径变化范围大的工件。

手指结构取决于被抓取物件的表面形状、被抓部位(是外廓或是内孔)和物件的重量及尺寸。常用的指形有平面的、V形面的和曲面的:手指有外夹式和内撑式;指数有双指式、多指式和双手双指式等。

而传力机构则通过手指产生夹紧力来完成夹放物件的任务。传力机构型式较常用的有:滑槽杠杆式、连杆杠杆式、斜面杠杆式、齿轮齿条式、丝杠螺母多，式弹簧式和重力式等。

附式手部主要由吸盘等构成，它是靠吸附力(如吸盘内形成负压或产生电吸磁力)吸附物件，相应的吸附式手部有负压吸盘和电磁盘两类。

对于轻小片状零件、光滑薄板材料等，通常用负压吸盘吸料。造成负压的方式

有气流负压式和真空泵式。

对于导磁性的环类和带孔的盘类零件，以及有网孔状的板料等，通常用电磁吸盘吸料。电磁吸盘的吸力由直流电磁铁和交流电磁铁产生。

用负压吸盘和电磁吸盘吸料，其吸盘的形状、数量、吸附力大小，根据被吸附的物件形状、尺寸和重量大小而定。

此外，根据特殊需要，手部还有勺式(如浇铸机械手的浇包部分)、托式(如冷齿轮机床上下料机械手的手部)等型式。

2、手腕

是连接手部和手臂的部件，并可用来调整被抓取物件的方位(即姿势)。

3、手臂

手臂是支承被抓物件、手部、手腕的重要部件。手臂的作用是带动手指去抓取物件，并按预定要求将其搬运到指定的位置。工业机械手的手臂通常由驱动手臂运动的部件(如油缸、气缸、齿轮齿条机构、连杆机构、螺旋机构和凸轮机构等)与驱动源(如液压、气压或电机等)相配合，以实现手臂的各种运动。

手臂可能实现的运动如下:

手臂在进行伸缩或升降运动时，为了防止绕其轴线的转动，都需要有导向装置，以保证手指按正确方向运动。此外，导向装置还能承担手臂所受的弯曲力矩和扭转力矩以及手臂回转运动时在启动、制动瞬间产生的惯性力矩，使运动部件受力状态简单。

导向装置结构形式，常用的有:单圆柱、双圆柱、四圆柱和V形槽、燕尾槽等

导向型式。

4、立柱

立柱是支承手臂的部件，立柱也可以是手臂的一部分，手臂的回转运动和升降(或俯仰)运动均与立柱有密切的联系。机械手的立往通常为固定不动的，但因工作需要，有时也可作横向移动，即称为可移式立柱。

5、行走机构

当工业机械手需要完成较远距离的操作，或扩大使用范围时，可在机座上安装滚轮、轨道等行走机构，以实现工业机械手的整机运动。滚轮式行走机构可分为有轨的和无轨的两种。驱动滚轮运动则应另外增设机械传动装置。

6、机座

机座是机械手的基础部分，机械手执行机构的各部件和驱动系统均安装于机座上，故起支撑和连接的作用。

(二)驱动系统

驱动系统是驱动工业机械手执行机构运动的动力装置，通常由动力源、控制调节装置和辅助装置组成。常用的驱动系统有液压传动、气压传动、电力传动和机械传动等四中形式。

（三）控制系统

控制系统是支配着工业机械手按规定的要求运动的系统。目前工业机械手的控制系统一般由程序控制系统和电气定位(或机械挡块定位)系统组成。控制系统有电气控制和射流控制两种，它支配着机械手按规定的程序运动，并记忆人们给予机械手的指令信息(如动作顺序、运动轨迹、运动速度及时间)，同时按其控制系统的信息对执行机构发出指令，必要时可对机械手的动作进行监视，当动作有错误或发生故障时即发出报警信号。

(四)位置检测装置

控制机械手执行机构的运动位置，并随时将执行机构的实际位置反馈给控制系统，并与设定的位置进行比较，然后通过控制系统进行调整，从而使执行机构以一定的精度达到设定位置[3]。

1.2.2 机械手的分类

工业机械手的种类很多，关于分类的问题，目前在国内尚无统一的分类标准，在此暂按使用范围、驱动方式和控制系统等进行分类。

(一)按用途分

机械手可分为专用机械手和通用机械手两种:

1、专用机械手

它是附属于主机的、具有固定程序而无独立控制系统的机械装置。专用机械手具有动作少、工作对象单一、结构简单、使用可靠和造价低等特点，适用于大附属，如自动机床、自动线的上、下料机械手和‘加工中心”批量的自动化生产的自动换刀机械手。

2、通用机械手

它是一种具有独立控制系统的、程序可变的、动作灵活多样的机械手。通过调整可在不同场合使用，驱动系统和格性能范围内，其动作程序是可变的，控制系统是独立的。通用机械手的工作范围大、定位精度高、通用性强，适用于不断变换生产品种的中小批量自动化的生产。

通用机械手按其控制定位的方式不同可分为简易型和伺服型两种:简易型以“开一关”式控制定位，只能是点位控制:伺服型具有伺服系统定位控制系统，可以点位控制，也可以实现连续轨迹控制，一般的伺服型通用机械手属于数控类型。

(二)按驱动方式分

1、液压传动机械手

是以液压的压力来驱动执行机构运动的机械手。其主要特点是:抓重可达几百公斤以上、传动平稳、结构紧凑、动作灵敏。但对密封装置要求严格，不然油的泄漏对机械手的工作性能有很大的影响，且不宜在高温、低温下工作。若机械手采用电液伺服驱动系统，可实现连续轨迹控制，使机械手的通用性扩大，但是电液伺服阀的制造精度高，油液过滤要求严格，成本高。

2、气压传动机械手是以压缩空气的压力来驱动执行机构运动的机械手。其主要特点是:介质来源极为方便，输出力小，气动动作迅速，结构简单，成本低。但

是，由于空气具有可压缩的特性，工作速度的稳定性较差，冲击大，而且气源压力较低，抓重一般在30公斤以下，在同样抓重

内容简介：: 题目名称气动通用机械手执行系统设计题目类别设计类题目性质结合实际专业机械设计制造及其自动化参加本题目学生人数1论文类虚拟题目题目来源、教师准备情况、主要培养学生哪些能力1.题目来源：自拟2.教师准备情况：从事机械设计制造及其自动化领域的教学与研究30年，自1999年起自拟并指导该方向的毕业设计题目整10年，有一定的研究基础。3.主要培养学生的能力：文献查阅与实际调研能力；外文资料翻译能力；基础理论与专业知识的综合应用能力；数据资料的采集、处理与分析能力；计算机应用能力；题目内容及要求(1).用途：用于冲床上下料(2).规格参数抓重：常速时（10Kg），低速时（15Kg）手指夹持范围：80150mm 自由度数：4个定位方式：可调机械板块坐标形式：圆柱坐标定位精度：0.5mm 最大工作半径：1440mm 手臂最大中心高：1380mm 手臂伸缩行程：600mm 手臂升降速度：500mm/s 手腕回转范围：0180 手腕回转速度：180/s实践环节安排实习长春一汽铸造一厂（4周）实验计算机应用 Autocad绘图（48机时）中、外文参考资料：1徐元昌.工业机器人M.北京:中国轻工业出版社，1996.2张建民.工业机器人M.北京:北京理工大学出版社，1988.3蔡自兴.机器人学的发展趋势和发展战略M.机器人技术，2001, 4.4周洪.气动技术的新发展M.液压气动与密封，1999, 5.5金茂青，曲忠萍，张桂华.国外工业机器人发展势态分析M.机器人技术与应用2001.6王雄耀.近代气动机器人(气动机械手)的发展及应用M.液压气动与密，1999.7周伯英.工业机器人设计M.北京:机械工业出版社，1995.8龙立新.工业机械手的设计分析M.焊工之友，1999.9王承义.机械手及其应用M.北京:机械工业出版社，1981.1l李哲.冲压床自动上、下料机械手的研制M.研究与设计，2001.12高井宏幸等.工业机器人的结构与应用M.北京:机械工业出版社，1977.13 Schneider Ditmar. Otto voo Guericke.Pneumatic TIPS No. 87/1994. FESTO Pneumatic. Esslingen.14Beom-Sahag Ryuh, Gordon R.Pennock. An automatic tool changer and infegrated software for a robotic die polishing stationJ.American: Mechanism and Machine Theory. August 2005.教研室主任审批签字分院院长审批签字注：题目类别和题目性质请用符号填在相应栏内。外文资料MECHANISMS AND MACHINE THEORY1.Introduction to Mechanism：The function of a mechanism is to transmit or transform motion from one rigid body to another as part of the action of a machine. There are three types of common mechanical devices that can be used as basic elements of a mechanism.1、Gear system, in which toothed members in contact transmit motion between rotating shafts. 2、Cam system, where a uniform motion of an input member is converted into a nonuniform motion of the output member. 3、Plane and spatial linkages are also useful in creating mechanical motions for a point or rigid body. A kinematic chain is a system of links, that is, rigid bodies , which are either jointed together or are in contact with one another in a manner that permits them to move relative to one another. If one of the links is fixed and the movement of any other link to a new position will cause each of the other links to move to definite predictable position, the system is a constrained kinematic chain. If one of the links is held fixed and the movement of any other link to a new position will not cause each of the other links to move to a definite predictable position then the system is an unconstrained kinematic chain,A mechanism or linkage is a constrained kinematic chain, and is a mechanical device that has the purpose of transferring motion and/or force from a source to an output. A linkage consists of links (or bars), generally considered rigid, which are connected by joints, such as pin Cor revolute) or prismatic joints, to form open or closed chains (or loops). Such kinematic chains, with at least one link fixed, become mechanisms if at least two other links remain mobility, or structures if no mobility remains. In other words, a mechanism permits relative motion between its rigid links; a structure does not. Since linkages make simple mechanisms and can be designed to perform complex tasks, such as nonlinear motion and force transmission they will receive much attention in mechanism study.Mechanisms are used in a great variety of machines and devices. The simplest closed-loop linkage is the four-bar linkage, which has three moving links (plus one fixed link) and four pin joints. The link that is connected to the power source or prime mover and has one moving pivot and one ground pivot is called the input link. The output link connects another moving pivot to another ground pivot. The coupler or floating link connected the two moving pivots, thereby coupling the input to the output link.The four-bar linkage has some special configurations created by making one or more links infinite in length. The slider-crank (or crank and slider) mechanism is a four-bar chain with a slider replacing an infinitely long output link. The internal combustion engine is built based on this mechanism. Other forms of four-link mechanisms exist in which a slider is guided on a moving link rather than on a fixed link. These are called inversions of the slider-crank, produced when another link (the crank, coupler, or slider) is fixed link.Although the four-bar linkage and slider-crank mechanism are very useful and found in thousands of applications, we can see that these linkages have limited performance level. Linkages with more members are often used in more demanding circumstances. However it is often difficult to visualize the movement of a multiloop linkage, especially when other components appear in the same diagram. The first step in the motion analyses of more complicated mechanisms is to sketch the equivalent kinematic or skeleton diagram. The skeleton diagram serves a purpose similar to that of the electrical schematic or circuit diagram .Organization movement analysis second step: Draws a graphic chart, is must determine the organization the number of degrees of freedom. Based on degree of freedom, but Italy refers needs certain independent inputs the movement number, by determined organization all components are opposite in the ground position. The people have thousands of different types conceivably the link motion gear. You may imagine a bag containing massive link motion gear the component: Two pole groups, three pole groups, four pole groups and so on, as well as components, rotation, motion, cam follower, gear, tooth chain, chain wheel, leather belt, belt pulley and so on. (Sphere movement, screw vice-as well as the permission three dimensional relative motion other connections not yet includes, here, discusses in parallel planes merely plane motion). Moreover you conceivable put these components various types link motion gear possibility which forms in the same place. How exists helps the people to control forms these organizations the rule? In fact, the majority organization duty is requests a sole input to transmit to a sole output. Therefore the single degree of freedom organization uses most one kind of organization type. For example, namely may see by the intuition: Four pole organizations are a single degree of freedom link motion gear. The picture motion diagram and the determination organization degree of freedom process, is the movement analysis and the synthesis process first stage. In the movement analysis, adds on its characteristic according to the organization geometry shape which possibly knew (for example input angle, speed, angle acceleration and so on) studies the determination concrete organization. On the other hand, the movement synthesis is designs an organization to complete the duty process which an institute requests. In this, chooses the new organization the type and the size is a movement synthesis part. Conceives the relative motion ability, can guess the reason that designs an organization the reason and makes the improvement to a concrete design ability is like this a successful organization scientists symbol. Although these abilities come from the congenital creativity, however more is because has grasped the technology which enhances from the practice. 1.1The movement analysis： simple one of most useful organizations is four pole organizations. In on following elaboration majority of content centralism discussion link motion gear, but this procedure is also suitable for the more complex link motion gear. We already knew four pole organizations have a degree of freedom. About four pole organizations, has the useful more contents which must know? Indeed is some! These pull the Xiao husband criterion including the standard, the transformation concept, the blind spot position (divergence point), branch office, transmission angle, with theirs movement characteristic, including position, speed and acceleration. Four pole organizations may have one kind of being called as crank rocker organization form, one kind of double rocking lever organization, one kind of double crank (tension bar) does the organization, which one form send in is called as the organization, is decided in two pole movement scopes which (fixed component) connects with the rack. The crank rocker organization input component, the crank may revolve through 360 and the continuous rotation, but outputs the component to make the undulation merely (i.e. swing member). As an exceptional case, in the parallel four pole organization, inputs the pole the length to be equal to outputs the pole the length, the go-between length and the fixed link (rack) length, also is equal. Its input and the output all may make the complete alternation rotation or transform the being called as antiparallel quadrangle organization the overlapping structure. The standard pulls the Xiao husband criterion (theorem) to indicate that,If in four pole organizations, between two poles can do willfully relatively rotates continuously, that, its longest pole length is smaller than sum of with the shortest pole length or is equal to sum of the other two pole length.Should pay attention: The same four pole organization, may have the different form, which pole is this decided in was stipulated (i.e. makes fixed link) as the rack. The movement transformation process is in the fixed organization transmission chain different member has the different organization rate process. Besides has about the component rotation scope knowledge, but also must have how causes the organization before the manufacture on energy “the revolution” the good measure, that will be very useful. Hardenbergh (Hartenberg) speaks of: “The revolution” is terminology, its significance passes to outputs the component the movement validity. It meant the revolution is steady, in which can in output in the component to have a strength or the torque biggest force component is effective. Not only although the final output strength or the torque are the connecting rod geometric figure functions, moreover also is generally the power or the force of inertia result, that is frequently big to like static strength several times. In order to analyze the idling or in order to easy to obtain how can cause any organization “the revolution” the index, the transmission angle concept is extremely useful. In organization movement period, the transmission angle value is changing. The transmission angle 0 may occur in the special position. Will output the pole but in this special position the movement with not to exert inputs on the pole the strength many to have nothing to do with greatly. In fact, as a result of the movement vice-friction influence, the general basis practical experience, with the transmission angle planning board which is bigger than the rating. The weight link motion gear transmission movement ability matrix foundation definition already studied. A determining factor value (it includes regarding some assigns organization graph, position output movement variable to input variable derivative) is a this link motion gear in concrete position mobility criterion. If the organization has a degree of freedom (e.g. four pole organizations), then stipulated a location parameter, if the input angle, completely determined this organization stops position (neglect branch offices possibility). We may study one about four pole organization component absolute angular position analysis expression. When analyzes certain positions and (or) certain different organization time, this will be must be much more useful than the geometric figure analysis program, because this expression will cause the automated computation easy to program. The realization organization speed analysis relative velocity law is the speed polygon is one of several effective methods. This end (goes against) the spot to represent on the organization all spots, has the zero speed. From this the line which stipples respectively to the speed polygon in is representing the absolute speed which this organization photograph well should select respectively. In a line connection speed polygon random two points represents is taking on this organization two corresponding spot relative velocity. Other method is the instantaneous center law, namely the instantaneous center law, this method is extremely useful moreover is frequently when the complex link motion gear analysis quick method. The instantaneous center is a spot, this spot in that flash, on between the organization two components does not have the relative motion. In order to discover known organization certain instantaneous centers the position, Kennedy the (Kennedy) three center theories extremely are useful. It is said that,Each other relative motion three object three instantaneous centers are surely in a straight line. The organization various components acceleration is makes one be interested, because it affects the force of inertia, subsequently affects the machine part the stress, the bearing load, the vibration and the noise. Because the final goal is the machine and the organization force of inertia analysis, the all acceleration various components all should the disposable picture - - in the organization fixed component inertial coordinate system express in the identical coordinate system. Should pay attention: Is opposite in rotates on the vice-rotation rigid body an acceleration component usually to have two fixedly. A force component direction cuts in this path, its direction is same with this object angle acceleration direction, and is called the tangential acceleration. Its existence is completely because the angular speed rate of change causes. Another component, always aims at the object the center of rotation, is called the standard the centripetal acceleration, because this component the velocity vector direction has the change to exist. The movement comprehensiveGanization is forms many mechanisms the basic geometry structural units, these mechanisms including automatic packaging, printer, mechanical toy, textile machinery and other machineries and so on. The typical organization must design causes the movement which the rigid component relative datum component produces hoped. The organization movement design is the movement synthesis, first step frequently designs the entire machine first. When consideration stress, must ask dynamics aspect question, the bearing load, the stress, the lubrication and so on the similar question, but the major problem is the machine structure question. The movement scientist defines the kinematics as “the development facility movement and the foundation organization method”. This definition first part involves the kinematic analysis. The known organization, its constitution state of motion determined by the kinematic analysis. The narration movement analysis duty contains the organization between the main dimension, the component links mutually with the input movement technical characteristic or the actuation method. The goal is must discover the displacement, the speed, the acceleration, the impact or the beat (two step accelerations), with various components higher order acceleration which possibly occurs as well as describes the diameter mark and the movement which realizes by certain components. The definition second part of available following two aspect explained ：1. research produces with the aid of the organization assigns the movement the method. 2. research construction to be able to produce assigns the motion the method, but in two plans, the movement is assigns the organization is the foundation. This is the movement synthesis essence. Such movement synthesis involves to for assigns the performance the organization system design. The movement synthesis aspect may sum up as following two kinds: 1. types are comprehensive. The stipulation requests the performance, how is one kind of type organization appropriate? (Tooth gear train, link motion gear? Cam gear?)How many components but should the organization have? How many degrees of freedom needs? How outline structure is hoped? . About the member number and the degree of freedom consideration was usually considered is in the type synthesis is been called as for a quantity synthesis branch domain. 2. sizes are comprehensive. The movement synthesis second predominant type is the best method which determined through the goal law. The size synthesis attempts to determine the organization the important size and the starting position, this organization is conceives beforehand for the realization stipulation duty and the anticipated performance. Of the so-called important size meanings are refer about two poles, three poles and so on between the length or the pole are away from, angle between number of articles and spool thread, cam contour size, cam follower diameter, eccentricity, gear quota and so on. Expected the organization type possibly is the crank slide organization, four pole organizations, the tape reel from the moving parts cam gear, but or is non-has some kind of structure shape more complex link motion gear because by the analysis situs method which the inferior analytic method determined. Is comprehensive regarding the movement, in the convention has three duties: Function production, path production and movement production. Inputs and outputs the component in the function production organization the rotation or the migration must be the interdependence. Regarding arbitrary function y=f(x), a movement synthesis duty possibly is designs a link motion gear to cause the input and the output establishes the relations in order to cause in the xoxxn-1 scope to input according to x movement, but outputs according to the y=f(x) movement. In the input and in the output gyroscopic motion situation, the corner phi and phi respectively is x and the y linear simulation. When inputs rotates to an independence x value, in one “black box” in the organization, causes to output which the component to change to corresponds in the value which by function y=f(x) decided. This may consider is the mechanical analogy computer simple situation. Each kind of different organization all may contain in this “the black box” in, however produces regarding the arbitrary function non-error, four pole organizations are helpless, possibly matches merely in the limited precision with it. It widely uses in the industry, because four pole organizations in the construction and the service all are simple. In the path production organization, in “floats the walking beam” on a spot to have to draw one to be opposite in a fixed coordinate system determination path. If this path spot is both must and have to be related with the time correlation with the position, this duty is called it the predetermined cyclical path production. A path production organization example is the design throws the baseball or the tennis four pole organization. In this case, will select P the path will be this: Picks a ball in the predetermined position, and transmits in the predetermined time cycle along the predetermined diameter mark the ball, can achieve the appropriate speed and the direction. In the mechanism design has many situations, both must guide the rigid body in these situations through a series of stipulations, the independent position which limits, and must limit in the reduction when independent position number, to the vehicle speed and (or) the acceleration restrains, that is necessary. Movement production or rigid body guiding organization request: A complete object must guide passes a predetermined movement sequence. Took the object which guides usually is “the fluctuation component” not only a part, that is the target point P path, also is and inserts in this object through this spot the line rotation. For example, this possibly represents in the automated machinery a carrier, but that has a predetermined path in a carrier on spot this carrier also to have a predetermined angle position. The predetermined way charger cableway bucket movement is the movement production organization another example. The cableway bucket end path has the limit. Because its port must realize the excavation path, is following close on the path which must realize promotes and falls in torrents. The cableway bucket angle position to guaranteed fights the material to fall in torrents from the correct position similarly is (but actually) important.The cam and the gearcam gear is changes one kind of movement Cheng Ling one kind of movement the convenience installment. This kind of machine part has the curved surface or the trough surface, this curved surface or the trough surface with passes to from the moving parts appropriate match merge the movement from the moving parts. The cam movement (usually is rotation) is transmitted for does from the moving parts the undulation or the migration, or both have. Because various geometric solid and the massive cams with unify from the moving parts, therefore the cam is one kind of extremely numerous function multi-purpose machine parts. Although the cam and from the moving parts may for the movement, the path and the function production designs, but it mainly is uses in using the cam and takes the function production component from the moving parts. According to the cam shape, the most universal cam type is: Disc transmission cam (two dimensional, namely plane) and cylindrical cam (three dimensional, namely space) organization. May use several methods from the moving parts to classify: According to from the moving parts movement, for example the migration or the undulation classifies, according to the translation type (straight line) from the moving parts movement is along the radial direction from the cam shaft center bias and the basis from the moving parts contact face shape (for instance plane, rollarounds, spot - - knife point type, spherical surface, plane curve or space-like surface). Regarding one to the heart translation roller from the moving parts disk cam, may draw and cam surface contacting also with the wheel axle concentric most small circle is the base circle. The follower spot produces the pitch line rollarounds center spot. The angle of pressure is the roller center path course line and passes the rollarounds center between the pitch line normal included angle moreover is the transmission angle coangle. The neglect frictional influence, this normal direction with the cam with from the moving parts the contact force direction is the superposition consistent. In a link motion gear, the angle of pressure the change is precisely likely the cam transmits in the circulation generating process the movement action one kind of measurement which goes from the moving parts. The big angle of pressure will produce exerts from the moving parts pole side force, because of the friction force existence, that inevitably will limit from the moving parts in the guide channel. Need the intermittent motion in automated machinery many applications. As soon as a typical example will request one to include the rise to stand still a returns and the possible another idle time cycle, each stage will pass through the angle which will assign, will follow an institute to request from the moving parts displacement, this displacement or will measure by the centimeter. Designers work designs this cam correspondingly. First must do the decision-making is must choose the cam from the moving parts type. The stipulation application possible to request the cam and unifies from the moving parts. Transforms includes for policy-making certain factors: Geometry shape condition, dynamic condition, environmental condition and economic agent. Once the cam with was designated from the moving parts movement vice-type, then surely designated from the moving parts movement. Therefore, the speed, the acceleration and in certain situations, really are the extreme from the moving parts displacement further plan to be important. The gear is draws support in gear teeth success meshing transmits the movement the machine part. Gear from a gyro-axle to another gyro-axle transmission movement or transmission movement to a transmission rack. In the most applications all (or often decides torque by the constant angle transmission ratio to compare) exists. In the constant angle transmission ratio application is surely the axial transmission. In various useful gear type foundation, the input axis and the output shaft need or need parallel mutually in a straight line all not any limit. Because uses the non-round gear, the non-linear angle transmission ratio also is very useful. In order to maintain the constant angular speed, each gear tooth profile must obey the gear meshing the basic rule: In order to a pair of tooth can transmit the constant angle transmission ratio, they contact the tooth profile the shape to have to be must like this: The common normal passes in two gear center segment the fixed point. Satisfies the meshing basic rule two meshing tooth profile to be called the conjugate tooth profile. Although has many satisfies meshes the tooth possible tooth profile to be able to design, satisfies the basic meshing rule, but only has two kinds to use generally: Cycloid tooth profile and involute tooth profile. Has certain important merits involute: But it easy to process between the manufacture and a pair of involute gear center distance may change does not change the transmission ratio, when uses the involute tooth profile, but does not request between the precise axis the common difference.Some several kind of standard gears may supply to select. In order to applies under the parallel axis condition, usually uses the straight tooth cylindrical gears, parallel axle tilt gear or herringbone tooth gear. Uses the straight bevel gear or the helical gear in the intersection axis situation. Regarding the non-intersection axis and the non-parallel gear shaft transmission, will interlock the axis helical gear, the worm bearing adjuster worm gear, the end surface gear, the skewed tooth bevel gear or the accurate hyperboloid gear is selected. Regarding the straight tooth cylindrical gears, the counter gear festival circle is each other contacting. They roll mutually do not have the glide. The gear addendum is the gear teeth stretches out surpasses the festival circle (also is highly between festival circle and addendum circle in radial direction distance). Goes against the crack is assigns the tooth the dedendum (in the festival circle following tooth depth) to be bigger than the gear gear addendum quantity which meshes with it (interpolation). The tooth thick is along the festival round circular arc in the cross tooth distance, but the tooth spacing (socket S) is along the festival round circular arc in the neighboring two space between teeth space length. But the tooth side clearance is bigger than its counter gear in festival circle tooth thick interpolation in the festival circle socket width.中文翻译机构和机器原理1.机构介绍：机构的功用是作为机械作用的一个部分从一个刚体到另一个刚体传送即传递运动。一般能用作机构基本零件的机械装置有三种类型：1齿轮装置。那是在回转轴之间进行接触传动的啮合构件。2凸轮装置。把输入构件的均匀运动转换成输出构件的非均匀运动的装置。3平面机构和空间机构也是能使一个点或一个刚体产生机械运动的有用装置。运动链是一个构件系统装置即若干个刚体，它们或者彼此铰接或者互相接触，方式上是允许它们彼此间产生相对运动。如果构件中的某一构件被固定而使任何其他一个构件运动到新的位置将会引起其他各个构件也运动到确定的预期的位置上的话，该系统装置就是一个可约束的运动链。如果构件中的某一构件仍保持固定而使任一运动到达一新的位置而不会使其他各个构件运动到一个确定的预期的位置上的话，则该系统装置是一个非约束运动链。机构或连杆构件是一个可约束的传动链而且是一个从输入到输出以传递运动和（或）力为目的的机械装置。连杆机构是由通常被认为是刚体构件或杆组成的，它们是以销轴铰接的，例如用柱销（圆形的）或棱柱体销轴铰接，以便成形开式或闭式（回环式）的运动链。这样的运动链在至少有一个构件被固定的条件下：（1）如果至少有两个构件能保持运动，就变为机构，（2）如果没有一个构件能够运动，则就成为结构。换句话说，机构是允许其“刚性构件”之间相对运动，而结构则不能。由于连杆机构做成一简单机构而且能设定实现复杂的任务，例如非线性运动和力的传递运动。它们在机构学研究中将受到更多的关注。机构被用于许多许多的机器和装置中。最简单的封闭式的连杆机构就是四杆机构，四杆机构有三个运动构件（加上一个固定构件）并且有四个销轴。连接动力源的构件即原动件，而具有一个移动铰和一个固定铰者叫做输入构件。输出构件将一个移动铰和另一个固定铰连系起来。连接构件即浮动构件将两个移动的铰（回转副）连系起来，因而连接构件就将输入传送到输出。四杆机构若使一个或几个构件无限长而产生某些特殊的构造。曲柄滑块（即曲柄和滑块）机构就是一个四杆机构特例。其以一个滑块替换一个无限长的输出件。内燃机就是建立在这一机构基础上。有着另一种形式的四杆机构，其中滑块是在一运动的构件上导移运动而不是在一固定构件上。这些就被称为曲柄滑块机构的变换，它是其中一个构件（曲柄、连杆或滑块）被固定时形成的。虽然四杆机构和曲柄滑块机构是非常有用而且在成千上万的应用中都可找到。但是我们还看到，这些连杆机构其性能水平的发挥已经受到限制。具有更多构件的连杆机构常常用于更多要求的情况中。然而可以设想多回环的连杆机构的运动常常是更为困难的，特别是当其他零件出现在同一图中的时候，要进行更复杂机构的运动分析：第一步是绘制一等效运动图即示意图。这示意图用于电路图解类似的目的，即仅仅表示机构的主要本质的意图，然而它要体现影响其运动的关键的尺寸。运动图可用两种形式中的一种：一是草图（按比例画出，但放大比例不精确），二是比例准确的运动图（通常用于进一步分析其位置、位移、速度，加速度，力和扭矩传递等等）。为了便于参考，对构件进行顺序编号，（以静止构件编号为1开始编写），而回转副则以字母表示。机构运动分析的第二步：画一个图解图，是要确定机构的自由度数。依据自由度，可意指需要若干个独立输入的运动的数目，以确定机构所有的构件相对于地面的位置。人们可以想象存在数以千计的不同类型的连杆机构。你可想象一个袋子包容大量的连杆机构的组元：二杆组，三杆组，四杆组等等，以及构件，回转副，移动副，凸轮随动件，齿轮，齿链，链轮，皮带，皮带轮等等。（球形运动副，螺旋副以及允许三维相对运动的其他连接尚未包括进去，这里，仅仅讨论平行平面内的平面运动）。而且你可以想象一下把这些组元放在一起而形成的各种类连杆机构的可能性。存在如何帮助人们控制所形成这些机构的规律吗？实际上，大多数机构的任务是要求一个单一的输入被传递到一个单一的输出。因此单一自由度的机构是使用最多的一种机构类型。例如，由直觉即可以看出：四杆机构就是一个单一自由度的连杆机构。画运动图和确定机构自由度的过程，就是运动分析和综合过程的第一个阶段。在运动分析中，根据机构的几何形状加上可能知道的其特性（如输入角、速度，角加速度等）来研究确定具体的机构。另一方面，运动综合则是设计一个机构以完成一个所要求的任务的过程。于此，选择新机构的类型和尺寸是运动综合的一个部分。设想相对运动的能力，能推想出之所以这样设计一个机构的原因和对一个具体设计进行改进的能力是一个成功的机构学家的标志。虽然这些能力来自先天的创造性，然而更多的是因为掌握了从实践中提高的技术。1.1运动分析：最简单最有用的机构之一是四杆机构。以下论述中的大部分内容集中讨论连杆机构上，而该程序也适用于更复杂的连杆机构。我们已经知道四杆机构具有一个自由度。关于四杆机构，有没有要知道的有用的更多内容呢？的确是有的！这些包括格拉肖夫准则，变换的概念，死点的位置（分歧点），分支机构，传动角，和他们的运动特征，包括位置，速度和加速度。四杆机构可具有一种称作曲柄摇杆机构的形式，一种双摇杆机构，一种双曲柄（拉杆）机构，致于称作哪一种形式的机构，取决于跟机架（固定构件）相连接的两杆的运动范围。曲柄摇杆机构的输入构件，曲柄可旋转通过360并连续转动，而输出构件仅仅作摇动（即摇摆的杆件）。作为一个特例，在平行四杆机构中，输入杆的长度等于输出杆的长度，连接杆的长度和固定杆（机架）的长度，也是相等的。其输入和输出都可以作整周转动或者转换成称作反平行四边形机构的交叉结构。格拉肖夫准则（定理）表明：如果四杆机构中，任意两杆之间能作连续相对转动，那么，其最长杆长度与最短杆长度之和就小于或等于其余两杆长度之和。应该注意：相同的四杆机构，可有不同的形式，这取决于哪一根杆被规定作为机架（即作固定杆）。运动变换的过程就是固定机构传动链中的不同的杆件以产生不同的机构运动过程。除了具备关于构件回转范围的知识之外，还要具备如何使机构在制造之前就能“运转”的良好措施，那将是很有用的。哈登伯格（Hartenberg）说到：“运转”是一个术语，其意义是传给输出构件的运动的有效性。它意味着运转平稳，其中能在输出构件中产生一个力或扭矩的最大分力是有效的。虽然最终的输出力或扭矩不仅是连杆几何图形的函数，而且一般也是动力或惯性力的结果，那常常是大到如静态力的几倍。为了分析低速运转或为了易于获得如何能使任一机构“运转”的指数，传动角的概念是非常有用的。在机构运动期间，传动角的值在改变。传动角0可发生在特殊位置上。在此特殊位置上输出杆将不运动而与施加到输入杆上的力多大无关。事实上，由于运动副摩擦的影响，一般根据实际经验，用比规定值大的传动角去设计机构。衡量连杆机构传递运动能力的矩阵基础的定义已经研究出来。一个决定性因素的值（它含有对于某个给定机构图形，位置的输出运动变量对输入变量的导数）是该连杆机构在具体位置中的可动性的一个尺度。如果机构具有一个自由度（例如四杆机构），则规定的一个位置参数，如输入角，就将完全确定该机构休止的位置（忽视分支机构的可能性）。我们可研究一个关于四杆机构构件绝对角位置的分析表达式。当分析若干位置和（或）若干不同机构时候，这将是比几何图形分析程序要有用得多，因为该表达式将使自动化计算易于编程。实现机构速度分析的相对速度法即速度多边形是几种有效的方法之一。这端（顶）点代表着机构上所有的点，具有零速度。从该点到速度多边形上的各点画的线代表着该机构上相应各点的绝对速度。一根线连接速度多边形上的任意两点就代表着作为该机构上两个对应的点的相对速度。另外的方法就是瞬时中心法，即瞬心法，该方法是非常有用的而且常常是在复杂连杆机构分析时较快的方法。瞬心是一个点，该点在那一瞬间，机构上的两构件之间不存在相对运动。为了找出已知机构某些瞬心的位置，肯尼迪（Kennedy）三中心理论就非常有用。它是说：彼此相对运动的三个物体的三个瞬心必定是在一直线上。机构各构件的加速度是令人感兴趣的，因为它影响惯性力，继而影响机器零件的应力、轴承载荷、振动和噪音。由于最终的目的是机器和机构惯性力的分析，所有加速度的各分量都应一次性地画在同一坐标系中机构的固定构件的惯性坐标系中表示出来。应注意的是：相对于固定回转副的回转刚体上的一点加速度分量通常有两个。一个分力方向切于该点的轨迹，其指向与该物体的角加速度方向相同，并被称为切向加速度。它的存在完全是由于角速度的变化率引起的。另一个分量，总是指向物体的回转中心，被称为标准的向心加速度，这个分量由于速度矢量的方向发生改变而存在。运动的综合：机构是形成许多机械装置的基本几何结构单元，这些机械装置包括自动包装机、打印机、机械玩具、纺织机械和其他机械等。典型的机构要设计成使刚性构件相对基准构件产生所希望的运动。机构的运动设计即运动的综合，第一步常常是先设计整部机器。当考虑受力时，要提出动力学方面的问题，轴承的荷载、应力、润滑等类似的问题，而较大的问题是机器结构问题。运动学家把运动学定义为“研究机构的运动和创建机构的方法”。这个定义的第一部分就涉及运动学分析。已知一个机构，其构成的运动特性将由运动学分析来确定。叙述运动分析的任务包含机构的主要尺寸、构件间的相互连结和输入运动的技术特性或驱动方法。目的是要找出位移、速度、加速度、冲击或跳动（二阶加速度），和可能发生的各构件的高阶加速度以及所描述径迹和由某些构件来实现的运动。定义的第二部分可用以下两方面来解释：1研究借助机构来产生给定运动的方法2研究建造能产生给定运动机构的方法，在两个方案中，运动是给定的而机构是创建的。这就是运动综合的本质。这样运动综合涉及到为给定性能的机构的系统设计。运动综合方面又可归结为以下两类：1类型综合。规定所要求的性能，怎样一种类型的机构才是合适的？（齿轮系，连杆机构？还是凸轮机构？）而机构应具有多少构件？需要多少个自由度？怎样的轮廓结构才是所希望的？等等。关于杆件数目和自由度的考虑通常被认为是类型综合中被称作为数量综合的一个分支领域。2尺寸综合。运动综合的第二个主要类型是通过目标法来确定的最佳方法。尺寸综合试图确定机构的重要尺寸和起动位置，该机构是为着实现规定的任务和预期的性能而事先设想的。所谓重要的尺寸意思是指关于两杆、三杆等的长度或杆间距离，构件数和轴线间的角度，凸轮轮廓尺寸，凸轮随动件的直径，偏心距，齿轮配额等等。预想机构类型可能是曲柄滑块机构、四杆机构，带盘型从动件的凸轮机构，或者是以拓扑学方法而非因次分析法所确定的具有某种结构形状更为复杂的连杆机构。对于运动综合，惯例上有三个任务：函数生成，轨迹生成和运动生成。在函数生成机构中输入和输出构件的转动或移动必须是相互关联的。对于一个任意函数yf（x），一个运动综合的任务可能是设计一个连杆机构使输入和输出建立起关系以便使得在xoxxn-1的范围内输入按x运动，而输出按yf（x）运动。在输入和输出件回转运动情况下，转角和分别是x和y的线性模拟。当输入件回转到一个独立x值时，在一个“黑箱”的机构中，使输出构件转到相对应的由函数yf（x）决定的数值上。这可被认为是机械模拟计算机的最简单的情形。各种不同的机构都可以包含在这个“黑箱”内，然而对于任意函数的无误差生成，四杆机构是无能为力的，仅仅可能在有限精确度内与之相匹配。它广泛用于工业上，因为四杆机构在构建和维修上都是简单的。在轨迹生成机构中，在“浮动杆”上一个点要描画一条相对于一个固定坐标系确定的轨迹。如果该轨迹点是既要与时间相关又要与位置相关，该任务被称之为预定周期的轨迹生成。轨迹生成机构的一个例子就是设计来投掷棒球或网球的四杆机构。在这种情况下，点P的轨迹将是这样：在预定的位置捡起一个球，并在预定的时间周期内沿着预定的径迹把球传送出去，能达到合适的速度和方向。机械装置设计中有着许多情形，在这些情形中既要导引刚体通过一系列规定的、受限制的独立位置，又要在减少受限制而且独立的位置的数目时，对运动体的速度和（或）加速度加以约束，那是必要的。运动生成或刚体导引机构要求：一个完整的物体要被导引通过一预定的运动序列。作为被导引的物体通常是“浮动构件”的一部分，那不仅是预定点P的轨迹，也是通过该点并嵌入该物体内的线的转动。例如，该线可能代表自动化机械中的一个载体件，那是在载体件上的一个点具有一个预定的轨迹而该载体件又具有一个预定的

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