工业机械手结构设计摘要工业机械手是指机械能充分利用模仿控制人体活动上肢的部分工作功能，按照技术员给定的手动工作程序要求随时进行传送工件或抓取工具等智能操作的机械装置。本课题研究的是为普通车床配套而设计的上料机械手，主要负责将工件传送至预先规定的位置，这就自动的完成了送料的工作。根据适用工况提出送料机械手的总体设计方案，分析机械手的整体结构组成和实现自动化上料的具体工作原理过程，再根据机器人运动学科知识准确列出送料机械手的运动方程并对其运动进行综合分析，进而最终选择适合本机械手的驱动方式和控制方式。关键词：送料机械手；整体结构设计；自动化ABSTRACT An industrial robot is the inevitable outcome of the automation of industrial production, it can mimic some of the features of the upper body, in accordance with a given workpiece or work request sent crawler mechanical operation of the device.This research project is designed to support lathe feeding robot, it is responsible for transferring the workpiece to a predetermined position, which automatically completes the work of cutting.Puts forward feed manipulator overall design, analysis process material on the structures and automated robot, then the equation of motion robot kinematics knowledge robot and analyzed, thereby selecting the drive mode and the control suitable for the robot the way.Keywords: feed manipulator; structural design; automation目录第 1 章 绪论1.1 工业机械手在国内外的发展现状和趋势........................11.1.1 工业机械手在国外的发展现状..........................11.1.2 工业机械手在国内的发展现状..........................11.1.3 工业机械手的发展趋势................................21.1.4 总结................................................21.2 课题背景及意义............................................31.2.1 课题研究背景........................................31.2.2 课题研究意义........................................41.3 本文主要研究内容及各章安排................................5第...
