六自由度机械手重载搬运机器人本体结构设计(全套cad图纸)大学毕设论文

全套设计通过答辩优秀CAD图纸 QQ 36396305

XX学院

毕业设计说明书(论文)

作 者: 学院(系): 专 业: 题 目:

学 号：

重载搬运机器人本体结构设计【六自由

度机械手】

2015 年5月

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全套设计通过答辩优秀CAD图纸 QQ 36396305

毕业设计说明书（论文）中文摘要

机械手是一种典型的机电一体化产品，搬运机械手是机械手研究领域的热点。研究搬运机械手需要结合机械、电子、信息论、人工智能、生物学以及计算机等诸多学科知识，同时其自身的发展也促进了这些学科的发展。 本文对一种使用在搬运机械手的结构进行设计，并完成总装配图和零件图的绘制。要求对机械手模型进行力学分析，估算各关节所需转矩和功率，完成电机和减速器的选型。其次从电机和减速器的连接和固定出发，设计关节结构，并对机构中的重要连接件进行强度校核。 关键词： 结构设计，机器臂，关节型机械手，结构分析 I

毕业设计说明书（论文）外文摘要

Abstract The robot is a typical mechatronic products, spray painting robot is a hot research field of the robot. Study on the spray painting robot requires a combination of mechanical, electronic, information theory, artificial intelligence, biology and computer science knowledge, at the same time, its development has promoted the development of these disciplines. In this paper, a design of arm structure used in the painting robot, and complete the general assembly drawing and part drawing. Requirements for the mechanics analysis of the robot model, estimate required on each joint torque and power, complete motor and reducer selection. Secondly, from the motor and reducer connection and fixation of joint structure, design, and the mechanism of important connections check the strength. Keywords ：Structure design, Robot arm, Structure analysis

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目 录

1 绪论 ...................................................................................................................................... 1

1.1 引言 .......................................................................................................................... 2 1.2 搬运机械手研究概况 ................................................................................................ 3

1.2.1 国外研究现状 ................................................................................................ 3 1.2.2 国内研究现状 .............................................................................................. 4 1.4 搬运机械手的总体结构 ............................................................................................ 5 1.5 主要内容 .................................................................................................................... 5 2 总体方案设计 ........................................................................................................................ 6

2.1 机械手工程概述 ........................................................................................................ 6 2.2 工业机械手总体设计方案论述 ................................................................................ 7 2.3 机械手机械传动原理 .............................................................................................. 8 2.4 机械手总体方案设计 ................................................................................................ 8 2.5 本章小结 .................................................................................................................. 10 3 机械手大臂结构设计 .......................................................................................................... 1

3.1 大臂部结构设计的基本要求 .................................................................................... 1 3.2 大臂部结构设计 ........................................................................................................ 2 3.3 大臂电机及减速器选型 ............................................................................................ 2 3.4 减速器参数的计算 .................................................................................................... 3 3.5承载能力的计算 ......................................................................................................... 7

3.5.1 柔轮齿面的接触强度的计算 ........................................................................ 7 3.5.2 柔轮疲劳强度的计算 .................................................................................... 7 3.6 轴的计算校核 ............................................................................................................ 8 3.7 大臂的平衡设计 .................................................................................................... 11

3.7.1 弹簧的受力分析 ........................................................................................ 11 3.7.2 弹簧的设计计算 ........................................................................................ 14

4机械手小臂结构设计 ........................................................................................................... 18

4.1 腕部设计 ................................................................................................................ 18 4.2 小臂部结构设计 ...................................................................................................... 31

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