ReciprocalScrewTheory_省略_OFParallelManip.pdf
基于PLC驱动的三自由度机械手设计（全套CAD图纸+设计说明书+翻译）
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上传时间：2016-06-12
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基于
plc
驱动
自由度
机械手
设计
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摘 要
当今，在机械、医药、军事等各个领域中，机械手的出现频率越来越高。机械手的应用，使工业生产能够飞速发展，不仅仅提高了生产效率，改进了生产质量，减少次品的出品率，而且机械手能够解放生产力，减少人力劳动的强度，更为重要的是机械手能够在恶劣条件下进行工作作业，完成人力不能完成的任务。机械手涵盖了机械手机、机械原理、控制原理、PLC、力学、材料学、传感器等众多方面的知识和内容，是一门综合性质很强的技术。
本次毕业设计中，根据潘存云教授的发明，用球齿轮代替铰链接，设计一种机械手结构，能够实现机械手在半球体内的360度任意位置自由定位和指向要求。球齿轮最大的优势在于球齿轮的360度可自由性定位，从而实现空间指向和任意位置的定位，该三自由度机械手有三个自由度，满足工件的打磨、钻孔以及部分搬运工作的动作要求。此次设计包括机械手的手部、手腕、手臂的结构和连接方式，驱动机构的选择，底座和机架的设计等方面，主要进行的是机械手整个结构的设计，并且分析球齿轮机构的传递方面的参数，机械手的控制参数等等。在控制系统方面，该三自由度机械手的控制系统采用具有三自由度运动控制功能的PLC，并且进行框架设计、连线设计、程序编写，设计了自动和手动的两套程序，便于机械手应用在机械加工生产线等场合。
关键词：机械手；球齿轮；三自由度；PLC
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