论文-一种吸盘式搬运机械手的设计与研究.doc

商 丘 工学院 本科毕业设计 一种吸盘式搬运机械手的设计与研究 学 院 专 业 学 号 学生姓名 指导教师 提交日期 诚　信　承 诺 书 本人郑重承诺和声明:我承诺在毕业论文撰写过程中遵守学校有关规定,恪守学术规范,此毕业设计中均系本人在指导教师指导下独立完成,没有剽窃、抄袭他人的学术观点、思想和成果,没有篡改研究数据,凡涉及其他作者的观点和材料,均作了注释,如有违规行为发生,我愿承担一切责任,接受学校的处理,并承担相应的法律责任。 ASTRACT According to the layout of the actual plant environment and automation equipment, the design of the six degrees of freedom articulated suction cup type manipulator, which can basically arrive at arbitrary location in space, to realize the accurate transfer. Through access to relevant information, combined with various aspects of factors, to determine the overall design scheme of the manipulator, through access to relevant technical parameters to determine the arm, standardization of disk parameters. On this basis, through sampling, analysis, calculation and validation, to determine the structure size of each component, and the motor, deceleration device specification. By SolidWorks software, according to the size related to the size of the draw the three-dimensional entity model of the manipulator, and draw the corresponding engineering drawings. The manipulator sucker for kinematics analysis and arm of the displacement, velocity and acceleration of motion simulation. Simulation of the trajectory of the manipulator draw manipulator motion of parametric curves, and can realize the goods quickly and accurately transferred to the destination of the action. Key words: Articulated manipulator；Robot arm structure analysis；Structure design；Three-dimensional design;Kinematics simulation 目 录 1 绪论 1 1.1 引言 1 1.2 关节机械手研究概况 2 1.2.1 国外研究现状 2 1.2.2 国内研究现状 2 1.3 关节机械手的总体结构 3 1.4 主要内容 4 1.5 本章小结 5 2 总体方案设计 6 2.1 机械手工程概述 6 2.2 工业机械手总体设计方案论述 6 2.3 机械手机械传动原理 7 2.4 机械手总体方案设计 8 2.5 本章小结 9 3 机械手大臂部结构设计 10 3.1 大臂部结构设计的基本要求 10 3.2 大臂部结构设计 10 3.3 大臂电机及减速器选型 10 3.4 减速器参数的计算 11 3.5承载能力的计算 15 3.5.1 柔轮齿面的接触强度的计算 15 3.5.2 柔轮疲劳强度的计算 16 3.6 本章小结 20 4