氣控機械手的設計
                                                         
摘要：本機械手的設計是應用于抓取100g的物體，直徑為15mm的零件，機械手的動作要完成上料與下料的工作，把物體從一個地方搬運的到另一個地方，具體動作為當一個物件加工好后，機械手通過一個伸降缸下降100mm，伸縮缸緊接著伸50mm,此時氣爪抓取物件，伸縮缸收回，擺動氣缸實現抓取的工件180度的旋轉，伸降缸上升，氣爪放開工件，擺動氣缸旋轉180度返回原位置，整個動作完成。設計的內容主要為總裝圖和氣控回路的設計。

關鍵詞：機械手、氣壓技術、程序控制、氣壓回路

Accuse of the design of the manipulator angrily
Summary : The design of this manipulator is an object applying to pick 100g, the diameter is a part of 15mm, movements of the manipulator should finish the material loading and work of unloading, the ones that carried the object from a place are to another place , concrete movements are after a piece of things is processed well, the manipulator stretches and lowers the jar to drop 100mm through one, and then the flexible jar stretches 50mm, the angry claw picks the things at this moment, the flexible jar is regained , swing air cylinder realize work piece degree of rotations that pick , is it lower jar rise , the angry claw lets go of the work piece to stretch, swing the air cylinder and rotate 180 degrees and return to the original position, the whole movement is finished. Pursue to accuse of the design of the return circuit kindly for assembly mainly in content designed.
Keyword: Manipulator,atmospheric pressure technology , air cylinder , angry claw , atmospheric pressure return circuit,atmospheric pressure return circuit.