畢業(yè)設(shè)計(jì) 球面SCARA機(jī)器人機(jī)械部分設(shè)計(jì)（含proe三維圖）
論文說明書共23頁，字?jǐn)?shù)總計(jì)：12094
資料簡(jiǎn)介：
球面機(jī)器人-三維圖
A0-總裝圖.dwg
A1-部裝圖大臂.dwg
A1-部裝圖小臂.dwg
A1-大臂.dwg
A2-小臂.dwg
A3-小臂電機(jī)安裝板.dwg
A3-支撐體.dwg
A4-軸承端蓋.dwg
The robust design of parallel spherical robots.pdf
畢業(yè)設(shè)計(jì)任務(wù)書- 球面機(jī)器人機(jī)械.doc
畢業(yè)實(shí)習(xí)報(bào)告.doc
開題報(bào)告.doc
課題申報(bào)表--球面機(jī)器人機(jī)械.doc
三維截圖.doc
說明書：球面SCARA機(jī)器人機(jī)械部分設(shè)計(jì).doc
說明書封面.doc
文獻(xiàn)資料.doc
英文翻譯.doc
中英文摘要.doc
球面SCARA機(jī)器人機(jī)械部分設(shè)計(jì)
摘要：球面SCARA機(jī)器人課題來源于學(xué)院的實(shí)驗(yàn)室。研究的主要內(nèi)容是設(shè)計(jì)一個(gè)三自由度的機(jī)器人，用于實(shí)踐教學(xué)。對(duì)三個(gè)自由度的傳動(dòng)系統(tǒng)進(jìn)行設(shè)計(jì)時(shí)，要保證規(guī)定的動(dòng)作范圍、速度和精度。球面SCARA機(jī)器人是一個(gè)三自由度的關(guān)節(jié)型裝置。具有體積小，傳動(dòng)原理簡(jiǎn)單等優(yōu)點(diǎn)，被廣泛應(yīng)用于各個(gè)行業(yè)。
對(duì)于本課題，著重研究的是球形工件表面定位的SCARA機(jī)器人機(jī)械部分的設(shè)計(jì)。機(jī)械部分結(jié)構(gòu)設(shè)計(jì)包括確定機(jī)器人的外形尺寸和工作空間，擬定機(jī)器人各環(huán)節(jié)的總體傳動(dòng)方案和主要技術(shù)參數(shù)的確定，以及三個(gè)自由度軸的校核。所設(shè)計(jì)的機(jī)器人具有移動(dòng)方便、抓取范圍大、剛性好、位置精度高、運(yùn)行平穩(wěn)的特點(diǎn)。整個(gè)系統(tǒng)能滿足實(shí)驗(yàn)的要求，結(jié)構(gòu)簡(jiǎn)單，運(yùn)動(dòng)可靠，裝卸方便，便于維修、調(diào)整，能夠基本滿足設(shè)計(jì)的要求。在設(shè)計(jì)過程中盡量把零件選為標(biāo)準(zhǔn)件和通用件，以節(jié)約制造成本。

關(guān)鍵詞：SCARA機(jī)器人；電機(jī)；結(jié)構(gòu)設(shè)計(jì)

Mechanical Structure Design of Spherical SCARA Robot
Abstract: Spherical SCARA robot comes from the Institute of Laboratory project.
The main content is to design a three degrees of freedom robot for practice teaching.
The design of the three degrees of freedom the drive system should ensure the scope of the provisions of the action, speed and accuracy. Spherical three-DOF SCARA robot is a joint-type devices. It is small and simple driving principle, so it is widely used in various industries.
For this issue, focus is on the spherical surface of the SCARA robot positioning mechanical design. Mechanical design includes determining the size and shape of the robot work space, the overall development of all sectors of the robot drive program and determining the main technical parameters, and three degrees of freedom axis calibration. A mobile robot designed to easy move, capture range, good rigidity, high precision location, stable characteristics. The system can meet the requirements of experiments, simple structure, reliable movement, easy handling, easy maintenance, adjustment, can basically meet the design requirements. In the design process, we should try our best to select standard parts and common parts, to save manufacturing costs.
Key words: SCARA robot; motor; Structural design

目 錄

1前言……………………………………………………………………………… 1
1.1課題來源與技術(shù)要求分析…………………………………………………… 1
1.2國內(nèi)外發(fā)展及研究現(xiàn)狀……………………………………………………… 1
1.3研究目的……………………………………………………………………… 2
1.4設(shè)計(jì)內(nèi)容及思路……………………………………………………………… 2
2球面SCARA機(jī)器人機(jī)械結(jié)構(gòu)設(shè)計(jì)……………………………………………… 4
2.1運(yùn)動(dòng)方案及主要技術(shù)參數(shù)的擬定…………………………………………… 4
2.1.1方案擬定…………………………………………………………………… 5
2.1.2脈沖當(dāng)量和傳動(dòng)比的確定………………………………………………… 6
2.2各傳動(dòng)系統(tǒng)設(shè)計(jì)與校核……………………………………………………… 7
2.2.1第一自由度電機(jī)校核……………………………………………………… 8
2.2.2第一自由度同步帶傳動(dòng)設(shè)計(jì)……………………………………………… 9
2.2.3第一自由度諧波減速器選擇……………………………………………… 10
2.2.4第二自由度電機(jī)校核……………………………………………………… 11
2.2.5第二自由度諧波減速器選擇……………………………………………… 13
2.2.6第三自由度電機(jī)校核……………………………………………………… 13
2.2.7球面SCARA機(jī)器人外形圖………………………………………………… 15
3 Pro/E軟件簡(jiǎn)介………………………………………………………………… 16
4工業(yè)機(jī)器人運(yùn)行時(shí)應(yīng)采取的安全措施………………………………………… 18
4.1安全要求……………………………………………………………………… 18
4.2實(shí)施方法……………………………………………………………………… 18
5結(jié) 論…………………………………………………………………………… 19
參考文獻(xiàn)…………………………………………………………………………… 20
致 謝…………………………………………………………………………… 21
附 錄…………………………………………………………………………… 22