Light translational carrying manipulator design
Abstract :This topic is the main content of the mechanical design principle of the design of the three dof carrying manipulator, familiar with three degrees of freedom of the manipulator using occasions and related design steps. Robots can replace a lot of repeatability of physical labor, so as to reduce the labor intensity, improve production efficiency. Combined with three degrees of freedom all aspects of design knowledge, in the design process learn how to find out the problem to solve problems. And in the design idea and into their idea, improve their innovation ability. Try to make robots easy to use simple structure. Key Words: Manipulator; conveying work piece; handling;three degrees of free
目 录
目 录 ..................................................................................................................................................................... - 0 1 绪论 ................................................................................................................................................................... - 2 1.1 机械手的历史.............................................................................................................................................. - 2 1.2 机械手的组成 ............................................................................................................................................. - 3 1.2.1 执行机构 ............................................................................................................................................. - 3 1.2.2 驱动机构 ............................................................................................................................................. - 3 1.2.3 控制机构 ............................................................................................................................................. - 4 1.3 机械手的分类 ............................................................................................................................................. - 4 2 搬运机械手机构总体方案设计 ....................................................................................................................... - 6 2.1 搬运机械手设计要求 ................................................................................................................................. - 6 2.2 基本设计思路 ............................................................................................................................................. - 6 2.2.1 系统分析 ............................................................................................................................................ - 6 2.2.2 总体设计框图 .................................................................................................................................... - 7 2.2.3 搬运机械手的基本参数 .................................................................................................................... - 8 2.3 搬运机械手结构设计 ................................................................................................................................. - 9 2.3.1 搬运机械手坐标形式的选择 ............................................................................................................ - 9 2.4 机械手材料的选择 ..................................................................................................................................... - 9 2.5 机械臂的运动方式 .................................................................................................................................... - 10 2.6 搬运机械手驱动与控制系统分析 ........................................................................................................... - 11 2.6.1 驱动方式的选择 ............................................................................................................................... - 11 2.6.2 控制系统的选择 ............................................................................................................................... - 11 3 搬运机械手机械结构设计与计算 .................................................................................................................. - 11 3.1 搬运机械手手爪设计 ............................................................................................................................... - 11 3.2 搬运机械手手臂设计 ............................................................................................................................... - 12 3.2.1 伸缩机械臂的设计 .......................................................................................................................... - 12 -