关节型机器人机械臂结构设计

本科毕业论文

关节型机器人 机械臂结构设计

姓 名

学 院 机械工程学院 专 业 指导教师

机械设计制造及其自动化

完成日期 2012年5月

全日制本科生毕业设计（论文）承诺书

本人郑重承诺：所呈交的毕业设计（论文）关节型机器人机械臂结构设计是在导师的指导下，严格按照学校和学院的有关规定由本人独立完成。文中所引用的观点和参考资料均已标注并加以注释。论文研究过程中不存在抄袭他人研究成果和伪造相关数据等行为。如若出现任何侵犯他人知识产权等问题，本人愿意承担相关法律责任。

承诺人（签名）： 日 期：

关节型机器人机械臂结构设计

摘 要

随着现代科学技术的发展，机器人技术越来越受到广泛关注，在工业生产日益现代化的今天，机器人的使用变得越来越普及。因此，对于机器人技术的研究也变得越来越迫切，尤其是工业机器人方面。本论文针对工业机器人的工作领域特点，设计了一款拥有6个自由度的机械人，尤其针对机器人机械臂进行详细的设计，确定了其传动结构图，选择合适的电机，齿轮，液压缸，等各零部件。以及对各关节传动轴的设计和进行齿轮计算和校核完成其设计，该机器人具有刚性好，位置精度高、运行平稳的特点。

关键词：关节型机器人，6自由度，传动设计，零件计算校核

ARTICULATED ROBOT MANIPULATOR

STRUCTURE DESIGN

ABSTRACT

With the development of modern science and technology, robotics, more and more attention in an increasingly modernized industrial production, the use of robots becoming more and more popular. Therefore, robotics has become increasingly urgent, especially industrial robots. For this area, the authors designed a robot with 6 degrees of freedom,especially for the detailed design of the robot arm,determine the transmission chart,thus select the appropriate motor,gear,hydraulic cylinder,and so on.And the design of the joint drive shaft and gear calculation and verification of completion of its design,the robot has a good rigidity,high positional accuracy and smooth run characteristics.

KEYWORDS：articulated robot; 6 degrees of freedom; transmission design; parts

calculation checking

目 录

中文摘要 ABSTRACT

第1 章 绪 论 ·················································································································· 1

第2章 第3章 3.3.1 3.3.2 3.4 3.5 3.6 第4章 第5章第6章

1.1 工业机器人的作用及定义 ········································································· 1 1.2 本论文研究的主要内容 ············································································· 1

工业机器人概况 ··································································································· 2 2.1 工业机器人技术概况 ················································································· 2 2.2 工业机器人发展史 ····················································································· 2 2.3 工业机器人在生产中的应用 ····································································· 2 机器人方案的创成与机械设计 ··········································································· 5 3.1 机器人机械设计的特点 ············································································· 5 3.2 机器人自由度概念 ····················································································· 5 3.3 设计方案 ····································································································· 5 方案要求 ······················································································· 5 功能设计与分析 ··········································································· 5 方案结构设计与分析 ················································································· 7 主轴和大臂板刚度和强度分析 ································································· 8

3.5.1 主轴和大臂板有限元模型的建立与分析 ··································· 8

3.5.2 计算结果分析 ··············································································· 9 机器人电机的选取 ··················································································· 11 确定机器人各关节传动结构 ············································································· 13 4.1 确定整体结构 ··························································································· 13 4.2 腰关节传动 ······························································································· 15 4.3 大小臂传动 ······························································································· 15 4.4 手腕和末端执行器的传动 ······································································· 16 机器人工作空间 ································································································· 18

5.1 工作空间形成 ··························································································· 18 5.2 工作空间中空腔和空洞概念 ··································································· 18 5.3 本机器人的工作空间范围 ······································································· 19

零部件计算 ········································································································· 22

6.1 齿轮传动部分 ··························································································· 22

6.1.1 选定齿轮类型及齿数 ································································· 22 6.1.2 按齿面接触强度计算 ································································· 22

6.1.3 模数计算 ····················································································· 22 6.1.4 按齿轮弯曲强度计算 ································································· 23 6.2 液压传动部分 ··························································································· 23

6.2.1 手臂伸缩液压缸尺寸设计与校核 ············································· 23 6.2.2 手腕回转缸的尺寸及其校核 ····················································· 25

小结 ····································································································································· 27 致谢 ····································································································································· 28 参考文献 ····························································································································· 29

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