摘 要 工业机器人没有明确界线，它包罗多门学科，涉及多方领域，包含有机械学、控制理论学和仿生学等。而水平多关节型工业机器人的研发更是行业内热点，它囊括机构学控制理论和技术、计算机、传感技术、人工智能、仿生学等。工业机器人的应用情况，象征着一个国家的工业自动化程度。 本设计要求对机器人的总体结构中机身与大臂部分与控制系统进行设计，完成装配图和零件图的绘制。对机器人本体的各个零件进行受力分析，对各个关节需要转矩和功率进行初步的计算，选择满足要求的电动机作为动力装置。其次考虑电动机与传动装置连接，选取合适传动方式，并对传动中的零件进行计算校核。控制系统部分选用MCS-51 单片机控制，按照预设的指令完成相应的动作。关键词机身；大臂；控制系统Abstract There is no clear boundary between industrial robots. It covers many disciplines and involves many fields, including mechanics, control theory and bionics. Each joint are required to be preliminary calculated, and the motor that meets the requirements is selected as the power device. Secondly, consider the connection between the motor and the transmission device, select the appropriate transmission mode, and calculate and check the parts in the transmission. The control system part is controlled by MCS-51 single-chip microcomputer, and the corresponding action is completed according to the preset instruction.Keywords：Keywords：Fuselage；Boom ；Control Systems目 录1. 前 言..................................................................11.1 课题来源及研究意义....................................................11.2 国内、外发展状况......................................................1 1.2.1 国内发展状况....................................................11.2.2 国外发展状况....................................................21.3 设计任务的主要内容与要求..............................................31.3.1 设计内容........................................................31.3.2 设计要求....................................................
