平面關(guān)節(jié)型機械手畢業(yè)設(shè)計.rar
平面關(guān)節(jié)型機械手畢業(yè)設(shè)計,1.4萬字 34頁包括開題報告，任務(wù)書，設(shè)計說明書，cad圖紙，文獻綜述，外文翻譯等整套的畢業(yè)設(shè)計資料，內(nèi)容完整，推薦下載！ 摘 要 在現(xiàn)代工業(yè)中，生產(chǎn)過程的機械化，自動化已經(jīng)成為突出主題。在機械工業(yè)中，加工、裝配等環(huán)節(jié)中運用的機械手已經(jīng)越來越普遍。它可降低工人的勞動強度，提高生產(chǎn)效率和質(zhì)量。平...
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平面關(guān)節(jié)型機械手畢業(yè)設(shè)計
1.4萬字 34頁
包括開題報告，任務(wù)書，設(shè)計說明書，CAD圖紙，文獻綜述，外文翻譯等整套的畢業(yè)設(shè)計資料，內(nèi)容完整，推薦下載！
摘 要
在現(xiàn)代工業(yè)中，生產(chǎn)過程的機械化，自動化已經(jīng)成為突出主題。在機械工業(yè)中，加工、裝配等環(huán)節(jié)中運用的機械手已經(jīng)越來越普遍。它可降低工人的勞動強度，提高生產(chǎn)效率和質(zhì)量。平面關(guān)節(jié)型機械手采用兩個回轉(zhuǎn)關(guān)節(jié)和一個移動關(guān)節(jié)；兩個回轉(zhuǎn)關(guān)節(jié)控制前后左右運動，而移動關(guān)節(jié)則實現(xiàn)上下運動，其工作空間如工作空間圖，它的縱截面為矩形的回轉(zhuǎn)體，縱截面高為移動關(guān)節(jié)的行程長，兩回轉(zhuǎn)關(guān)節(jié)轉(zhuǎn)角的大小決定回轉(zhuǎn)體截面的大小、形狀。
工業(yè)機械手是一種模仿人手部分動作，按照預(yù)先設(shè)定的程序，軌跡或其他要求，實現(xiàn)抓取、搬運工件或操作工具的自動化裝置。它在二十世紀(jì)五十年代就已用于生產(chǎn)，是在自動上下料機構(gòu)的基礎(chǔ)上發(fā)展起來的一種機械裝置，開始主要用來實現(xiàn)自動上下料和搬運工件，完成單機自動化和生產(chǎn)線自動化，隨著應(yīng)用范圍的不段擴大，現(xiàn)在用來夾持工具和完成一定的作業(yè)。實踐證明它可以代替人手的繁重勞動，減輕工人的勞動強度，改善勞動條件，提高勞動生產(chǎn)率。
關(guān)鍵字：機械手；軸承；氣缸
DESIGN OF PLANA HINGED MANIPULATOR
ABSTRACT
In modern industry, the production process of mechanization and automation has become a prominent theme. In the mechanical industry, processing, assembling, and other aspects of the use of mechanical hand has become increasingly common. It can reduce the labor intensity of workers, increase production efficiency and quality. Plane joint use of two-manipulator rotary joints and a mobile joint; two revolving around joint control before and after the campaign, and the realization of joint mobile campaign from top to bottom, their work space such as work space map, it's vertical rectangular cross-section of the rotating, vertical Cross-section of the joint high for mobile long trip, the two rotary joint corner of the size cross-section of the Rotary decision size, shape. Industrial machinery hand is a copy of the staff action, in accordance with the procedures set in advance, track or other requirements, and crawling, porters or operation of the automated tools devices. In the 20th century it had been used in the production of the 1950s, is expected from top to bottom in the auto developed on the basis of a mechanical devices, mainly used to automatically start from top to bottom and porters were expected to complete stand-alone automation and automated production line With the application of paragraph does not expand, now used for gripping tools and the completion of certain operations. Practice has proved that it can substitute for manpower the heavy labor, reduce labor intensity of workers and improve working conditions, improve labor productivity.
KEY WORDS :Manipulator;Bearing;Cylinder
目 錄
摘 要 I
ABSTRACT. II
前言 1
1 概論 2
1.1機械手簡史 2
1.2機械手發(fā)展概況 2
1.3機械手的發(fā)展趨勢 3
1.4機械手的組成、分類及型式 4
1.4.1機械手的組成 4
1.4.2機械手的分類及型式 4
1.5機械手的應(yīng)用及應(yīng)用誤區(qū) 8
1.5．1機械手的應(yīng)用 8
1.5．2機械手應(yīng)用誤區(qū) 9
2 機械手工作原理及設(shè)計思想 11
3 機械手設(shè)計 12
3.1 手指設(shè)計 13
3.1.1 設(shè)計時要注意的問題 13
3.1.2 零件的設(shè)計 13
3.2 移動關(guān)節(jié)的設(shè)計 16
3.2.1驅(qū)動方式的比較 16
3.2.2氣缸的設(shè)計 17
4 機械手臂部的設(shè)計及有關(guān)計算計 18
4.1 小臂的設(shè)計 18
4.1.1 設(shè)計時注意的問題 18
4.1.2 小臂結(jié)構(gòu)的設(shè)計 18
4.1.3 軸的設(shè)計 19
4.1.4 軸承的選擇 19
4.1.5 軸承摩擦力矩的設(shè)計 20
4.1.6 驅(qū)動選擇 21
4.2 大臂的設(shè)計計算 22
4.2.1 結(jié)構(gòu)的設(shè)計 22
4.2.2 軸的設(shè)計計算 22
4.2.3 軸承的選擇 23
4.2.4 軸承摩擦力矩的計算 24
4.2.5 伺服系統(tǒng)的選擇 24
5機身的設(shè)計 26
小結(jié) 27
參考文獻 28
致 謝 29
參考文獻
[1] MasonM T ,Salisbury J K.Robots hands and the mechanicsof manipulation .Cambridge :MIT press ,1985 .
[2] Dechev N,Cleghorn WL ,Nauman S .Multiple finger ,passive adaptive grasp prosthetic hand.MechnismandMachine Theory ,1999 ,36(4) :1157 - 1173 .
[3] Butterfass J ,GrebensteinM,Liu H,et al .DLR hand ,next generation of a dexterous robot hand .Seoul :IEEE Trans .On Robotics and Automation ,2001 .
[4] Roccella S ,Gosselin C M,Cappiello G,et al .Design ,fabrication and preliminary results of a novel anthropomorphichand for humanoid robotics .Sendai :IEEE/RSJ International Conference on IntelligentRobots and Systems ,2004.
[5] Edsinger - Gonzales A.Design of a compliant and forcesensing hand for a humanoid robot .Genova :IntelligentManipulation and Grasping ,2004 .
[6] 郭惠昕,張龍庭,羅佑新,等.多目標(biāo)模糊優(yōu)化設(shè)計的理想點法.機械設(shè)計,2001(8) :16 - 18 .
[7] 孟女卓,卜賀.規(guī)范化加權(quán)平方和法多目標(biāo)優(yōu)化設(shè)計.哈爾濱科學(xué)技術(shù)大學(xué)學(xué)報,1995 ,19(5) :76 -81 .
[8] 韓澤光,費燁,鄭夕健.基于多目標(biāo)遺傳算法的圓柱螺旋壓縮彈簧方案設(shè)計.中國制造業(yè)信息化,2006 ,35(3) :27 - 30 .
[9]周伯英.《工業(yè)機器人設(shè)計》[M]機械工業(yè)出版社 1995
[10] 龔振幫,《機器人機械設(shè)計》[M]電子工業(yè)出版社 1995
[11]藤森洋三,《機構(gòu)設(shè)計》[M]機械工業(yè)出版社 1990
[12]加藤一郎.《機械手圖冊》[M]上?？萍汲霭嫔?1989
[13] 成大先.《機械設(shè)計圖冊》[M]（5）化學(xué)工業(yè)出版社 1999
[14] 劉鴻文.《材料力學(xué)》[M] 高等教育出版社 1991
[15] 濮良貴, 紀(jì)名剛.《機械設(shè)計》[M]高等教育出版社 1995
[16] 周開勤.《機械零件手冊》[M] 高等教育出版社 1993
1.4萬字 34頁
包括開題報告，任務(wù)書，設(shè)計說明書，CAD圖紙，文獻綜述，外文翻譯等整套的畢業(yè)設(shè)計資料，內(nèi)容完整，推薦下載！
摘 要
在現(xiàn)代工業(yè)中，生產(chǎn)過程的機械化，自動化已經(jīng)成為突出主題。在機械工業(yè)中，加工、裝配等環(huán)節(jié)中運用的機械手已經(jīng)越來越普遍。它可降低工人的勞動強度，提高生產(chǎn)效率和質(zhì)量。平面關(guān)節(jié)型機械手采用兩個回轉(zhuǎn)關(guān)節(jié)和一個移動關(guān)節(jié)；兩個回轉(zhuǎn)關(guān)節(jié)控制前后左右運動，而移動關(guān)節(jié)則實現(xiàn)上下運動，其工作空間如工作空間圖，它的縱截面為矩形的回轉(zhuǎn)體，縱截面高為移動關(guān)節(jié)的行程長，兩回轉(zhuǎn)關(guān)節(jié)轉(zhuǎn)角的大小決定回轉(zhuǎn)體截面的大小、形狀。
工業(yè)機械手是一種模仿人手部分動作，按照預(yù)先設(shè)定的程序，軌跡或其他要求，實現(xiàn)抓取、搬運工件或操作工具的自動化裝置。它在二十世紀(jì)五十年代就已用于生產(chǎn)，是在自動上下料機構(gòu)的基礎(chǔ)上發(fā)展起來的一種機械裝置，開始主要用來實現(xiàn)自動上下料和搬運工件，完成單機自動化和生產(chǎn)線自動化，隨著應(yīng)用范圍的不段擴大，現(xiàn)在用來夾持工具和完成一定的作業(yè)。實踐證明它可以代替人手的繁重勞動，減輕工人的勞動強度，改善勞動條件，提高勞動生產(chǎn)率。
關(guān)鍵字：機械手；軸承；氣缸
DESIGN OF PLANA HINGED MANIPULATOR
ABSTRACT
In modern industry, the production process of mechanization and automation has become a prominent theme. In the mechanical industry, processing, assembling, and other aspects of the use of mechanical hand has become increasingly common. It can reduce the labor intensity of workers, increase production efficiency and quality. Plane joint use of two-manipulator rotary joints and a mobile joint; two revolving around joint control before and after the campaign, and the realization of joint mobile campaign from top to bottom, their work space such as work space map, it's vertical rectangular cross-section of the rotating, vertical Cross-section of the joint high for mobile long trip, the two rotary joint corner of the size cross-section of the Rotary decision size, shape. Industrial machinery hand is a copy of the staff action, in accordance with the procedures set in advance, track or other requirements, and crawling, porters or operation of the automated tools devices. In the 20th century it had been used in the production of the 1950s, is expected from top to bottom in the auto developed on the basis of a mechanical devices, mainly used to automatically start from top to bottom and porters were expected to complete stand-alone automation and automated production line With the application of paragraph does not expand, now used for gripping tools and the completion of certain operations. Practice has proved that it can substitute for manpower the heavy labor, reduce labor intensity of workers and improve working conditions, improve labor productivity.
KEY WORDS :Manipulator;Bearing;Cylinder
目 錄
摘 要 I
ABSTRACT. II
前言 1
1 概論 2
1.1機械手簡史 2
1.2機械手發(fā)展概況 2
1.3機械手的發(fā)展趨勢 3
1.4機械手的組成、分類及型式 4
1.4.1機械手的組成 4
1.4.2機械手的分類及型式 4
1.5機械手的應(yīng)用及應(yīng)用誤區(qū) 8
1.5．1機械手的應(yīng)用 8
1.5．2機械手應(yīng)用誤區(qū) 9
2 機械手工作原理及設(shè)計思想 11
3 機械手設(shè)計 12
3.1 手指設(shè)計 13
3.1.1 設(shè)計時要注意的問題 13
3.1.2 零件的設(shè)計 13
3.2 移動關(guān)節(jié)的設(shè)計 16
3.2.1驅(qū)動方式的比較 16
3.2.2氣缸的設(shè)計 17
4 機械手臂部的設(shè)計及有關(guān)計算計 18
4.1 小臂的設(shè)計 18
4.1.1 設(shè)計時注意的問題 18
4.1.2 小臂結(jié)構(gòu)的設(shè)計 18
4.1.3 軸的設(shè)計 19
4.1.4 軸承的選擇 19
4.1.5 軸承摩擦力矩的設(shè)計 20
4.1.6 驅(qū)動選擇 21
4.2 大臂的設(shè)計計算 22
4.2.1 結(jié)構(gòu)的設(shè)計 22
4.2.2 軸的設(shè)計計算 22
4.2.3 軸承的選擇 23
4.2.4 軸承摩擦力矩的計算 24
4.2.5 伺服系統(tǒng)的選擇 24
5機身的設(shè)計 26
小結(jié) 27
參考文獻 28
致 謝 29
參考文獻
[1] MasonM T ,Salisbury J K.Robots hands and the mechanicsof manipulation .Cambridge :MIT press ,1985 .
[2] Dechev N,Cleghorn WL ,Nauman S .Multiple finger ,passive adaptive grasp prosthetic hand.MechnismandMachine Theory ,1999 ,36(4) :1157 - 1173 .
[3] Butterfass J ,GrebensteinM,Liu H,et al .DLR hand ,next generation of a dexterous robot hand .Seoul :IEEE Trans .On Robotics and Automation ,2001 .
[4] Roccella S ,Gosselin C M,Cappiello G,et al .Design ,fabrication and preliminary results of a novel anthropomorphichand for humanoid robotics .Sendai :IEEE/RSJ International Conference on IntelligentRobots and Systems ,2004.
[5] Edsinger - Gonzales A.Design of a compliant and forcesensing hand for a humanoid robot .Genova :IntelligentManipulation and Grasping ,2004 .
[6] 郭惠昕,張龍庭,羅佑新,等.多目標(biāo)模糊優(yōu)化設(shè)計的理想點法.機械設(shè)計,2001(8) :16 - 18 .
[7] 孟女卓,卜賀.規(guī)范化加權(quán)平方和法多目標(biāo)優(yōu)化設(shè)計.哈爾濱科學(xué)技術(shù)大學(xué)學(xué)報,1995 ,19(5) :76 -81 .
[8] 韓澤光,費燁,鄭夕健.基于多目標(biāo)遺傳算法的圓柱螺旋壓縮彈簧方案設(shè)計.中國制造業(yè)信息化,2006 ,35(3) :27 - 30 .
[9]周伯英.《工業(yè)機器人設(shè)計》[M]機械工業(yè)出版社 1995
[10] 龔振幫,《機器人機械設(shè)計》[M]電子工業(yè)出版社 1995
[11]藤森洋三,《機構(gòu)設(shè)計》[M]機械工業(yè)出版社 1990
[12]加藤一郎.《機械手圖冊》[M]上?？萍汲霭嫔?1989
[13] 成大先.《機械設(shè)計圖冊》[M]（5）化學(xué)工業(yè)出版社 1999
[14] 劉鴻文.《材料力學(xué)》[M] 高等教育出版社 1991
[15] 濮良貴, 紀(jì)名剛.《機械設(shè)計》[M]高等教育出版社 1995
[16] 周開勤.《機械零件手冊》[M] 高等教育出版社 1993
