毕业论文题目关节型工业机械手的结构设计学院机械工程学院专业机械工程及自动化班级机自0917班学生廉开发学号20090421170指导教师苏东宁二〇一三年六月三日-I-济南大学毕业论文摘要关于该关节型工业机械手的具体研究方法。本次设计工作首先对实体安川机器人进行了细致的研究，了解了其内部的具体结构，安川机器人的结构可分为六个轴系，然后根据六个轴系对其内部结构进行分解，以便了解各个零件之间的配合，这样就对安川机器人有了大体的了解。下面就进行尺寸的测量，尺寸的测量只需要测量一下大体的外观尺寸，而内部尺寸可根据零件的配合进行合理的设计。然后，进行计算（包括电机功率的计算，轴的设计，齿轮的参数计算），接着可依据相关资料，选取恰当的电机。最后，可根据实体与之前所掌握的知识对机械手的结构进行设计分析。关键词:伺服电机、机械手抓、移动旋转。-II-济南大学毕业论文ABSTRACTHereisabouttheresearchmethodoftheindustrialmanipulatorjoints.ThedesignworkontherealfirstAnChuanrobothascarriedonthedetailedresearch,understandtheinternalstructureofconcrete,AnChuanrobotstructurecanbedividedintosixaxis,andthenaccordingtothesixaxisofitsinternalstructuredecomposition,inordertounderstandthecooperationbetweenthevariouspartsofthe,thusforAnChuanrobothaveroughlyunderstanding.Belowisthesizeofthemeasurement,thesizeofthemeasurementonlyneedtomeasurethegeneralappearanceofthesize,andtheinternaldimensioncanbereasonableaccordingtothepartsofthedesign.Then,computing(includingmotorpowercalculation,thedesignoftheshaft,thegearparametercalculation),thencanaccordingtorelevantdata,selecttheappropriatemachine.Finally,accordingtotheentityandpriorknowledgeonthestructureofthemanipulatordesignanalysis.Keywords:servomotorrotate,manipulatorgrabbingandmoving.-III-济南大学毕业论文目录摘要................................................................IABSTRACT...............................................................II1前言..................................................................11.1机械手国内外发展现状............................................11.2多关节型工业机械手概述..........................................21.3机械手组成与分类................................................31.3.1机械手组成.................................................31.3.2机械手分类.................................................32机械手的设计方案......................................................42.1设计任务的提出...................................................52.2机械手设计方案..................................................52.2方案特点........................................................63.1电机的选型......................................................73.1.1初步估算机械手的质量.......................................73.1.2计算各个轴的转速及转矩.....................................9-IV-济南大学毕业论文3.1.3计算电机功率..............................................103.2锥齿轮设计.....................................................113.2.1齿轮精度、材料............................................113.2.2按齿面接触疲劳强度设计....................................113.2.3按齿根弯曲强度设计........................................123.2.4锥齿轮参数计算............................................133.3同步带轮的设计.................................................133.3.1同步齿形带传动计算........................................133.3.2带轮几何尺寸的计算........................................153.4减速器的设计...................................................163.4....
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