圓柱坐標(biāo)型三自由度機(jī)械手設(shè)計(jì)及其控制系統(tǒng)設(shè)計(jì)【含CAD圖紙、說(shuō)明書(shū)】,含CAD圖紙、說(shuō)明書(shū),圓柱,坐標(biāo),自由度,機(jī)械手,設(shè)計(jì),及其,控制系統(tǒng),cad,圖紙,說(shuō)明書(shū),仿單 圓柱坐標(biāo)型三自由度機(jī)械手設(shè)計(jì)及其控制 5 摘 要 本設(shè)計(jì)中機(jī)械手可模仿人的動(dòng)作功能，用以按固定程序抓取、搬運(yùn)物件或操作工具的自動(dòng)操作裝置。它可代替人的繁重勞動(dòng)以實(shí)現(xiàn)生產(chǎn)的機(jī)械化和自動(dòng)化，能在有害環(huán)境下操作以保護(hù)人身安全，因而廣泛應(yīng)用于機(jī)械制造、冶金、電子、輕工和原子能等部門(mén)。機(jī)械手主要由手部、運(yùn)動(dòng)機(jī)構(gòu)和控制系統(tǒng)三大部分組成。手部是用來(lái)抓持工件的部件，根據(jù)被抓持物件的形狀、尺寸、重量、材料和作業(yè)要求設(shè)計(jì)為夾持型。運(yùn)動(dòng)機(jī)構(gòu)，使手部完成各種轉(zhuǎn)動(dòng)、移動(dòng)或復(fù)合運(yùn)動(dòng)來(lái)實(shí)現(xiàn)規(guī)定的動(dòng)作，改變被抓持物件的位置和姿勢(shì)。運(yùn)動(dòng)機(jī)構(gòu)的升降、伸縮、旋轉(zhuǎn)等獨(dú)立運(yùn)動(dòng)方式，稱(chēng)為機(jī)械手的自由度。為了抓取空間中任意位置和方位的物體，需有3個(gè)自由度。 關(guān)鍵詞：機(jī)械手，設(shè)計(jì)，手部，手腕，手臂，機(jī)身，結(jié)構(gòu) Abstract Robot arm to mimic certain actions of staff and functions, to capture a fixed procedure, carrying objects or operating tools, automation equipment. It can replace human labor in order to achieve the heavy mechanization and automation of production, can operate in hazardous environments to protect the personal safety, which is widely used in machine building, metallurgy, electronics, light industry and nuclear power sectors.Manipulator mainly by hand, sports bodies and the control system has three major components. Task of hand is holding the workpiece of the components, according to grasping objects by shape, size, weight, material and operational requirements of the various structural forms, such as clamp type, care support and the adsorption type, etc. . Sports organizations to accomplish a variety of hand rotation, move, or complex movement to achieve the required action to change the location of objects by grasping and posture. Sports organizations lifting, stretching and rotating the independence movement, is known as freedom manipulator. Crawl space to an arbitrary position and orientation of objects, the need for six degrees of freedom. Freedom is the mechanical design of the key parameters of hand. More freedom, greater flexibility of the manipulator, the more wide versatility。 Keywords: manipulator, design, hand, wrist, arm, body, structure 目 錄 1緒論 1 1.1 國(guó)內(nèi)生產(chǎn)量 1 1.2 國(guó)內(nèi)機(jī)械手區(qū)域市場(chǎng)分析 1 2 機(jī)械手總體設(shè)計(jì)方案 2 2.1 機(jī)械手組成 2 2.2 機(jī)械手的規(guī)格參數(shù) 3 3 機(jī)械手手部設(shè)計(jì)計(jì)算 4 3.1 手部設(shè)計(jì)基本要求 4 3.2 手部手部力學(xué)分析 5 3.3 夾緊力與驅(qū)動(dòng)力計(jì)算 5 3.4 手爪夾持范圍計(jì)算 7 3.5 手爪夾持精度的計(jì)算 8 4 珠絲杠螺母副的選型 10 4.1 提升機(jī)構(gòu)滾珠絲杠副的計(jì)算及選型 10 4.2 伸縮機(jī)構(gòu)滾珠絲杠副的計(jì)算及選型 13 5 蝸輪蝸桿傳動(dòng)的設(shè)計(jì)計(jì)算 17 5.1 面接觸疲勞強(qiáng)度設(shè)計(jì) 17 5.2 蝸輪蝸桿的主要參數(shù)和幾何尺寸設(shè)計(jì) 18 5.3 齒根彎曲疲勞強(qiáng)度的校核 19 5.4 精度等級(jí)公差和表面粗糙度的確定 20 6 電機(jī)的計(jì)算和選型 21 6.1 提升步進(jìn)電機(jī)的計(jì)算及選型 21 6.2 伸縮步進(jìn)電機(jī)的計(jì)算與選型 25 6.3 蝸輪蝸桿電機(jī)的計(jì)算及選型 28 8 機(jī)械手PLC控制系統(tǒng)設(shè)計(jì) 31 7.1 接近開(kāi)關(guān)的工作原理及選型 31 7.2 限位開(kāi)關(guān)的工作原理及選型 31 7.3 系統(tǒng)的結(jié)構(gòu)功能和總體設(shè)計(jì)方案 31 7.4 PLC的選型及PLC外部接線圖設(shè)計(jì) 32 7.5 PLC控制系統(tǒng)的軟件設(shè)計(jì) 34 結(jié) 論 35 參考文獻(xiàn) 36 致謝 37 附件 38