II五自由度工業(yè)機(jī)械手結(jié)構(gòu)設(shè)計[摘要]機(jī)械手是機(jī)器進(jìn)化和科學(xué)技術(shù)發(fā)展的必然結(jié)果，機(jī)械手從問世到現(xiàn)在經(jīng)過 50多年的發(fā)展，在國民經(jīng)濟(jì)，科學(xué)研究以至整個社會領(lǐng)域發(fā)揮著越來越顯著的作用，成為人們生活學(xué)習(xí)中的好幫手，近十年來各種用途的機(jī)械手得到了更廣泛的應(yīng)用，如焊接、噴漆、搬運等用于制造車間的工業(yè)機(jī)械手。學(xué)習(xí)了機(jī)械手技術(shù)知識，查閱了大量的文獻(xiàn)資料，對國內(nèi)外機(jī)械手、主要是工業(yè)機(jī)械手的現(xiàn)狀有了比較詳細(xì)的了解。在此基礎(chǔ)上，結(jié)合本人的設(shè)想，和設(shè)計工作中需要解決的任務(wù)，本文主要研究機(jī)械手總體結(jié)構(gòu)進(jìn)行設(shè)計，主要進(jìn)行以下工作:本體結(jié)構(gòu)設(shè)計，本機(jī)械手手臂結(jié)構(gòu)方案確定后要運用 AutoCAD 把其平面裝配圖做出。[關(guān)鍵詞]機(jī)械手、AutoCAD、機(jī)械手臂IIIFive Degree of Freedom Industrial Robot Structure DesignAbstract: This paper studied and designed a five-DOF assembly processing robot, and carries on the kinematics and dynamics analysis, simulation. At last static analysis and modal analysis for the key parts of the robot by FEM, compared the analytical results .The main work was as follows:On the basis of actual situation and similar structure, Designed the kinematics and Structural programs for the five-Dof assembly processing robot, and used 3-D software to devise the structure of main part of the second proposal, at last, framed the dimensional model.Complied the assembly processing robot analytical soft and kinematics analytical; calculate the kinematic equations and the positive & reverse solutions, and used the Monte Carlo method to calculate the workspace of the robot , and used the vector product method to construct the speed Jacobian matrix of the robot. At last , according to virtual prototyping technology, simulated the positive & reverse solutions and the speed Jacobian matrix in ADAMS, and compared the simulation results with the analytical results to verify the correctness of the resolution of kinematic.Used second-class Lagrangian method to create the robot model, and deduced the robot dynamics equation. According to compiling dynamics solver program by Mat lab software , The author simulated the inverse problem of dynamics and provided the basis for the control and trajectory planning in the future.The paper studied the five-Dof assembly processing robots and established the foundation for the research of the series of robots in the future.Key words：Assembly Robots；Scheme design； Kinematic Analysis；Dynamic Analysis；Lagrange Method； Finite element method；Modal analysis.目 錄引言 11 工業(yè)機(jī)械手簡介 .21.1 機(jī)械手簡介 21.2 機(jī)械手研究現(xiàn)狀及發(fā)展趨勢 21.3 國內(nèi)外機(jī)械手研究現(xiàn)狀 41.3.1 國外機(jī)械手研究現(xiàn)狀 41.3.2 國內(nèi)機(jī)械手研究現(xiàn)狀 41.3.3 工業(yè)機(jī)械手運動學(xué)系統(tǒng)研究現(xiàn)狀 51.3.4 工業(yè)機(jī)械手軌跡規(guī)劃研究的現(xiàn)狀與意義 51.4 本文研究的意義及主要內(nèi)容 52 機(jī)械手本體結(jié)構(gòu)方案的設(shè)計 .72.1 機(jī)械手的工作要求 72.2 機(jī)械手機(jī)械設(shè)計的特點 72.2.1 機(jī)械手獨特的結(jié)構(gòu)特點 72.2.2 與機(jī)械手有關(guān)的概念 72.3 機(jī)械手手臂結(jié)構(gòu)方案設(shè)計 82.3.1 方案功能設(shè)計與分析 82.3.2 步進(jìn)電機(jī) 92.3.3 步進(jìn)電機(jī)選用 92.3.4 步進(jìn)電機(jī)型號、參數(shù)、尺寸 .113 機(jī)械手的結(jié)構(gòu)設(shè)計 143.1 腕部回轉(zhuǎn)關(guān)節(jié)的設(shè)計 .143.1.1 腕部設(shè)計的基本要求 143.1.2 典型的腕部結(jié)構(gòu) 14第 4 頁 共 3 頁3.1.3 腕部回轉(zhuǎn)關(guān)節(jié)的設(shè)計 143.2 小臂回轉(zhuǎn)關(guān)節(jié)的設(shè)計 .143.2.1 小臂部設(shè)計的基本要求 143.2.2 小臂回轉(zhuǎn)關(guān)節(jié)步進(jìn)電機(jī)和減速器的選擇 .153.3 大臂回轉(zhuǎn)關(guān)節(jié)的設(shè)計 .153.3.1 大臂部設(shè)計的基本要求 153.3.2 大臂回轉(zhuǎn)關(guān)節(jié)步進(jìn)及減速器的選擇 .153.4 腰部回轉(zhuǎn)關(guān)節(jié)的設(shè)計 .163.4.1 腰部回轉(zhuǎn)關(guān)節(jié)設(shè)計要求 .163.4.2 腰部回轉(zhuǎn)關(guān)節(jié)步進(jìn)電機(jī)及減速器的選擇 .163.5 氣爪的選擇 .16致謝 .18參考文獻(xiàn) .19外文翻譯 .20