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五自由度工业机械手结构设计摘要机械手是机器进化和科学技术发展的必然结果，机械手从问世到现在经过50多年的发展，在国民经济，科学研究以至整个社会领域发挥着越来越显著的作用，成为人们生活学习中的好帮手，近十年来各种用途的机械手得到了更广泛的应用，如焊接、喷漆、搬运等用于制造车间的工业机械手。学习了机械手技术知识，查阅了大量的文献资料，对国内外机械手、主要是工业机械手的现状有了比较详细的了解。在此基础上，结合本人的设想，和设计工作中需要解决的任务，本文主要研究机械手总体结构进行设计，主要进行以下工作:本体结构设计，本机械手手臂结构方案确定后要运用AutoCAD把其平面装配图做出。关键词机械手、AutoCAD、机械手臂1Five Degree of Freedom Industrial Robot Structure DesignAbstract: This paper studied and designed a five-DOF assembly processing robot, and carries on the kinematics and dynamics analysis, simulation. At last static analysis and modal analysis for the key parts of the robot by FEM, compared the analytical results .The main work was as follows:On the basis of actual situation and similar structure, Designed the kinematics and Structural programs for the five-Dof assembly processing robot, and used 3-D software to devise the structure of main part of the second proposal, at last, framed the dimensional model.Complied the assembly processing robot analytical soft and kinematics analytical; calculate the kinematic equations and the positive & reverse solutions, and used the Monte Carlo method to calculate the workspace of the robot , and used the vector product method to construct the speed Jacobian matrix of the robot. At last , according to virtual prototyping technology, simulated the positive & reverse solutions and the speed Jacobian matrix in ADAMS, and compared the simulation results with the analytical results to verify the correctness of the resolution of kinematic.Used second-class Lagrangian method to create the robot model, and deduced the robot dynamics equation. According to compiling dynamics solver program by Mat lab software , The author simulated the inverse problem of dynamics and provided the basis for the control and trajectory planning in the future.The paper studied the five-Dof assembly processing robots and established the foundation for the research of the series of robots in the future.Key words：Assembly Robots；Scheme design； Kinematic Analysis；Dynamic Analysis；Lagrange Method；Finite element method；Modal analysis.1目 录引言11 工业机械手简介21.1 机械手简介21.2 机械手研究现状及发展趋势21.3 国内外机械手研究现状41.3.1 国外机械手研究现状41.3.2 国内机械手研究现状41.3.3 工业机械手运动学系统研究现状51.3.4 工业机械手轨迹规划研究的现状与意义51.4 本文研究的意义及主要内容52 机械手本体结构方案的设计72.1 机械手的工作要求72.2 机械手机械设计的特点72.2.1 机械手独特的结构特点72.2.2 与机械手有关的概念72.3 机械手手臂结构方案设计82.3.1 方案功能设计与分析82.3.2 步进电机92.3.3 步进电机选用92.3.4 步进电机型号、参数、尺寸113 机械手的结构设计143.1 腕部回转关节的设计143.1.1腕部设计的基本要求143.1.2典型的腕部结构143.1.3腕部回转关节的设计143.2 小臂回转关节的设计143.2.1小臂部设计的基本要求143.2.2 小臂回转关节步进电机和减速器的选择153.3 大臂回转关节的设计153.3