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2.3機(jī)械手手臂結(jié)構(gòu)的設(shè)計(jì)
按照抓取工件的要求，車床上料機(jī)械手的手臂有三個(gè)自由度，及手臂的伸縮、左右回轉(zhuǎn)和降（或俯仰）運(yùn)動(dòng)。手臂的回轉(zhuǎn)和升降運(yùn)動(dòng)是通過(guò)立柱來(lái)實(shí)現(xiàn)的，立柱的橫向移動(dòng)即為手臂的橫移。手臂的各種運(yùn)動(dòng)有氣缸來(lái)實(shí)現(xiàn)。
2.3.1機(jī)械手手臂設(shè)計(jì)要求
機(jī)器人手臂的作用，是在一定的載荷和一定的速度下，實(shí)現(xiàn)在機(jī)器人所要求的工作空間內(nèi)的運(yùn)動(dòng)。在進(jìn)行機(jī)器人手臂設(shè)計(jì)時(shí)，要遵循下述原則；
1.應(yīng)盡可能使機(jī)器人手臂各關(guān)節(jié)軸相互平行；相互垂直的軸應(yīng)盡可能相交于一點(diǎn)，這樣可以使機(jī)器人運(yùn)動(dòng)學(xué)正逆運(yùn)算簡(jiǎn)化，有利于機(jī)器人的控制。
2.機(jī)器人手臂的結(jié)構(gòu)尺寸應(yīng)滿足機(jī)器人工作空間的要求。工作空間的形狀和大小與機(jī)器人手臂的長(zhǎng)度，手臂關(guān)節(jié)的轉(zhuǎn)動(dòng)范圍有密切的關(guān)系。但機(jī)器人手臂末端工作空間并沒有考慮機(jī)器人手腕的空間姿態(tài)要求，如果對(duì)機(jī)器人手腕的姿態(tài)提出具體的要求，則其手臂末端可實(shí)現(xiàn)的空間要小于上述沒有考慮手腕姿態(tài)的工作空間。
3.為了提高機(jī)器人的運(yùn)動(dòng)速度與控制精度，應(yīng)在保證機(jī)器人手臂有足夠強(qiáng)度和剛度的條件下，盡可能在結(jié)構(gòu)上、材料上設(shè)法減輕手臂的重量。力求選用高強(qiáng)度的輕質(zhì)材料，通常選用高強(qiáng)度鋁合金制造機(jī)器人手臂。目前，在國(guó)外，也在研究用碳纖維復(fù)合材料制造機(jī)器人手臂。碳纖維復(fù)合材料抗拉強(qiáng)度高，抗振性好，比重?。ㄆ浔戎叵喈?dāng)于鋼的1/4，相當(dāng)于鋁合金的2/3），但是，其價(jià)格昂貴，且在性能穩(wěn)定性及制造復(fù)雜形狀工件的工藝上尚存在問(wèn)題，故還未能在生產(chǎn)實(shí)際中推廣應(yīng)用。目前比較有效的辦法是用有限元法進(jìn)行機(jī)器人手臂結(jié)構(gòu)的優(yōu)化設(shè)計(jì)。在保證所需強(qiáng)度與剛度的情況下，減輕機(jī)器人手臂的重量。
4.機(jī)器人各關(guān)節(jié)的軸承間隙要盡可能小，以減小機(jī)械間隙所造成的運(yùn)動(dòng)誤差。因此，各關(guān)節(jié)都應(yīng)有工作可靠、便于調(diào)整的軸承間隙調(diào)整機(jī)構(gòu)。
5.機(jī)器人的手臂相對(duì)其關(guān)節(jié)回轉(zhuǎn)軸應(yīng)盡可能在重量上平衡，這對(duì)減小電機(jī)負(fù)載和提高機(jī)器人手臂運(yùn)動(dòng)的響應(yīng)速度是非常有利的。在設(shè)計(jì)機(jī)器人的手臂時(shí)，應(yīng)盡可能利用在機(jī)器人上安裝的機(jī)電元器件與裝置的重量來(lái)減小機(jī)器人手臂的不平衡重量，必要時(shí)還要設(shè)計(jì)平衡機(jī)構(gòu)來(lái)平衡手臂殘余的不平衡重量。
6.機(jī)器人手臂在結(jié)構(gòu)上要考慮各關(guān)節(jié)的限位開關(guān)和具有一定緩沖能力的機(jī)械限位塊，以及驅(qū)動(dòng)裝置，傳動(dòng)機(jī)構(gòu)及其它元件的安裝。
2.3.2設(shè)計(jì)具體采用方案
機(jī)械手的垂直手臂（大臂）升降和水平手臂（小臂）的伸縮運(yùn)動(dòng)都為直線運(yùn)動(dòng)。直線運(yùn)動(dòng)的實(shí)現(xiàn)一般是氣動(dòng)傳動(dòng)，液壓傳動(dòng)以及電動(dòng)機(jī)驅(qū)動(dòng)滾珠絲杠來(lái)實(shí)現(xiàn)。考慮到搬運(yùn)工件的重量較大，考慮加工工件的質(zhì)量達(dá)30KG，屬中型重量，同時(shí)考慮到機(jī)械手的動(dòng)態(tài)性能及運(yùn)動(dòng)的穩(wěn)定性，安全性，對(duì)手臂的剛度有較高的要求。綜合考慮，兩手臂的驅(qū)動(dòng)均選擇液壓驅(qū)動(dòng)方式，通過(guò)液壓缸的直接驅(qū)動(dòng)，液壓缸既是驅(qū)動(dòng)元件，又是執(zhí)行運(yùn)動(dòng)件，不用再設(shè)計(jì)另外的執(zhí)行件了；而且液壓缸實(shí)現(xiàn)直線運(yùn)動(dòng)，控制簡(jiǎn)單，易于實(shí)現(xiàn)計(jì)算機(jī)的控制。
因?yàn)橐簤合到y(tǒng)能提供很大的驅(qū)動(dòng)力，因此在驅(qū)動(dòng)力和結(jié)構(gòu)的強(qiáng)度都是比較容易實(shí)現(xiàn)的，關(guān)鍵是機(jī)械手運(yùn)動(dòng)的穩(wěn)定性和剛度的滿足。因此手臂液壓缸的設(shè)計(jì)原則是缸的直徑取得大一點(diǎn)（在整體結(jié)構(gòu)允許的情況下），再進(jìn)行強(qiáng)度的較核。
同時(shí)，因?yàn)榭刂坪途唧w工作的要求，機(jī)械手的手臂的結(jié)構(gòu)不能太大，若僅僅通過(guò)增大液壓缸的缸徑來(lái)增大剛度，是不能滿足系統(tǒng)剛度要求的。因此，在設(shè)計(jì)時(shí)另外增設(shè)了導(dǎo)桿機(jī)構(gòu)，小臂增設(shè)了兩個(gè)導(dǎo)桿，與活塞桿一起構(gòu)成等邊三角形的截面形式，盡量增加其剛度；大臂增設(shè)了四個(gè)導(dǎo)桿，成正四邊形布置，為減小質(zhì)量，各個(gè)導(dǎo)桿均采用空心結(jié)構(gòu)。通過(guò)增設(shè)導(dǎo)桿，能顯著提高機(jī)械手的運(yùn)動(dòng)剛度和穩(wěn)定性，比較好的解決了結(jié)構(gòu)、穩(wěn)定性的問(wèn)題。
2.4機(jī)械手腕部的結(jié)構(gòu)設(shè)計(jì)
機(jī)器人的手臂運(yùn)動(dòng)（包括腰座的回轉(zhuǎn)運(yùn)動(dòng)），給出了機(jī)器人末端執(zhí)行器在其工作空間中的運(yùn)動(dòng)位置，而安裝在機(jī)器人手臂末端的手腕，則給出了機(jī)器人末端執(zhí)行器在其工作空間中的運(yùn)動(dòng)姿態(tài)。機(jī)器人手腕是機(jī)器人操作機(jī)的最末端，它與機(jī)器人手臂配合運(yùn)動(dòng)，實(shí)現(xiàn)安裝在手腕上的末端執(zhí)行器的空間運(yùn)動(dòng)軌跡與運(yùn)動(dòng)姿態(tài)，完成所需要的作業(yè)動(dòng)作。
2.4.1機(jī)器人手腕結(jié)構(gòu)的設(shè)計(jì)要求
1.機(jī)器人手腕的自由度數(shù)，應(yīng)根據(jù)作業(yè)需要來(lái)設(shè)計(jì)。機(jī)器人手腕自由度數(shù)目愈多，各關(guān)節(jié)的運(yùn)動(dòng)角度愈大，則機(jī)器人腕部的靈活性愈高，機(jī)器人對(duì)對(duì)作業(yè)的適應(yīng)能力也愈強(qiáng)。但是，自由度的增加，也必然會(huì)使腕部結(jié)構(gòu)更復(fù)雜，機(jī)器人的控制更困難，成本也會(huì)增加。因此，手腕的自由度數(shù)，應(yīng)根據(jù)實(shí)際作業(yè)要求來(lái)確定。在滿足作業(yè)要求的前提下，應(yīng)使自由度數(shù)盡可能的少。一般的機(jī)器人手腕的自由度數(shù)為2至3個(gè)，有的需要更多的自由度，而有的機(jī)器人手腕不需要自由度，僅憑受臂和腰部的運(yùn)動(dòng)就能實(shí)現(xiàn)作業(yè)要求的任務(wù)。因此，要具體問(wèn)題具體分析，考慮機(jī)器人的多種布局，運(yùn)動(dòng)方案，選擇滿足要求的最簡(jiǎn)單的方案。
2.機(jī)器人腕部安裝在機(jī)器人手臂的末端，在設(shè)計(jì)機(jī)器人手腕時(shí)，應(yīng)力求減少其重量和體積，結(jié)構(gòu)力求緊湊。為了減輕機(jī)器人腕部的重量，腕部機(jī)構(gòu)的驅(qū)動(dòng)器采用分離傳動(dòng)。腕部驅(qū)動(dòng)器一般安裝在手臂上，而不采用直接驅(qū)動(dòng)，并選用高強(qiáng)度的鋁合金制造。
3.機(jī)器人手腕要與末端執(zhí)行器相聯(lián)，因此，要有標(biāo)準(zhǔn)的聯(lián)接法蘭，結(jié)構(gòu)上要便于裝卸末端執(zhí)行器。
4.機(jī)器人的手腕機(jī)構(gòu)要有足夠的強(qiáng)度和剛度，以保證力與運(yùn)動(dòng)的傳遞。
5.要設(shè)有可靠的傳動(dòng)間隙調(diào)整機(jī)構(gòu)，以減小空回間隙，提高傳動(dòng)精度。
6.手腕各關(guān)節(jié)軸轉(zhuǎn)動(dòng)要有限位開關(guān)，并設(shè)置硬限位，以防止超限造成機(jī)械損壞。
2.4.2設(shè)計(jì)具體采用方案
通過(guò)對(duì)數(shù)控機(jī)床上下料作業(yè)的具體分析，考慮數(shù)控機(jī)床加工的具體形式及對(duì)機(jī)械手上下料作業(yè)時(shí)的具體要求，在滿足系統(tǒng)工藝要求的前提下提高安全和可靠性，為使機(jī)械手的結(jié)構(gòu)盡量簡(jiǎn)單，降低控制的難度，本設(shè)計(jì)手腕不增加自由度，實(shí)踐證明這是完全能滿足作業(yè)要求的，3個(gè)自由度來(lái)實(shí)現(xiàn)機(jī)床的上下料完全足夠。具體的手腕（手臂手爪聯(lián)結(jié)梁）結(jié)構(gòu)見圖8。
圖8 車床上料機(jī)械手手指
2.5機(jī)械手末端執(zhí)行器（手爪）的結(jié)構(gòu)設(shè)計(jì)
2.5.1機(jī)械手末端執(zhí)行器的設(shè)計(jì)要求
機(jī)器人末端執(zhí)行器是安裝在機(jī)器人手腕上用來(lái)進(jìn)行某種操作或作業(yè)的附加裝置。機(jī)器人末端執(zhí)行器的種類很多，以適應(yīng)機(jī)器人的不同作業(yè)及操作要求。末端執(zhí)行器可分為搬運(yùn)用、加工用和測(cè)量用等。
搬運(yùn)用末端執(zhí)行器是指各種夾持裝置，用來(lái)抓取或吸附被搬運(yùn)的物體。
加工用末端執(zhí)行器是帶有噴槍、焊槍、砂輪、銑刀等加工工具的機(jī)器人附加裝置，用來(lái)進(jìn)行相應(yīng)的加工作業(yè)。
測(cè)量用末端執(zhí)行器是裝有測(cè)量頭或傳感器的附加裝置，用來(lái)進(jìn)行測(cè)量及檢驗(yàn)作業(yè)。
在設(shè)計(jì)機(jī)器人末端執(zhí)行器時(shí)，應(yīng)注意以下問(wèn)題；
1.機(jī)器人末端執(zhí)行器是根據(jù)機(jī)器人作業(yè)要求來(lái)設(shè)計(jì)的。一個(gè)新的末端執(zhí)行器的出現(xiàn)，就可以增加一種機(jī)器人新的應(yīng)用場(chǎng)所。因此，根據(jù)作業(yè)的需要和人們的想象力而創(chuàng)造的新的機(jī)器人末端執(zhí)行器，將不斷的擴(kuò)大機(jī)器人的應(yīng)用領(lǐng)域。
2.機(jī)器人末端執(zhí)行器的重量、被抓取物體的重量及操作力的總和機(jī)器人容許的負(fù)荷力。因此，要求機(jī)器人末端執(zhí)行器體積小、重量輕、結(jié)構(gòu)緊湊。
3.機(jī)器人末端執(zhí)行器的萬(wàn)能性與專用性是矛盾的。萬(wàn)能末端執(zhí)行器在結(jié)構(gòu)上很復(fù)雜，甚至很難實(shí)現(xiàn)，例如，仿人的萬(wàn)能機(jī)器人靈巧手，至今尚未實(shí)用化。目前，能用于生產(chǎn)的還是那些結(jié)構(gòu)簡(jiǎn)單、萬(wàn)能性不強(qiáng)的機(jī)器人末端執(zhí)行器。從工業(yè)實(shí)際應(yīng)用出發(fā)，應(yīng)著重開發(fā)各種專用的、高效率的機(jī)器人末端執(zhí)行器，加之以末端執(zhí)行器的快速更換裝置，以實(shí)現(xiàn)機(jī)器人多種作業(yè)功能，而不主張用一個(gè)萬(wàn)能的末端執(zhí)行器去完成多種作業(yè)。因?yàn)檫@種萬(wàn)能的執(zhí)行器的結(jié)構(gòu)復(fù)雜且造價(jià)昂貴。
4.通用性和萬(wàn)能性是兩個(gè)概念，萬(wàn)能性是指一機(jī)多能，而通用性是指有限的末端執(zhí)行器，可適用于不同的機(jī)器人，這就要求末端執(zhí)行器要有標(biāo)準(zhǔn)的機(jī)械接口（如法蘭），使末端執(zhí)行器實(shí)現(xiàn)標(biāo)準(zhǔn)化和積木化。
5.機(jī)器人末端執(zhí)行器要便于安裝和維修，易于實(shí)現(xiàn)計(jì)算機(jī)控制。用計(jì)算機(jī)控制最方便的是電氣式執(zhí)行機(jī)構(gòu)。因此，工業(yè)機(jī)器人執(zhí)行機(jī)構(gòu)的主流是電氣式，其次是液壓式和氣壓式（在驅(qū)動(dòng)接口中需要增加電-液或電-氣變換環(huán)節(jié)）。
2.5.2機(jī)器人夾持器的運(yùn)動(dòng)和驅(qū)動(dòng)方式
機(jī)器人夾持器及機(jī)器人手爪。一般工業(yè)機(jī)器人手爪，多為雙指手爪。按手指的運(yùn)動(dòng)方式，可分為回轉(zhuǎn)型和移動(dòng)型，按夾持方式來(lái)分，有外夾式和內(nèi)撐式兩種。
機(jī)器人夾持器（手爪）的驅(qū)動(dòng)方式主要有三種
1.氣動(dòng)驅(qū)動(dòng)方式這種驅(qū)動(dòng)系統(tǒng)是用電磁閥來(lái)控制手爪的運(yùn)動(dòng)方向，用氣流調(diào)節(jié)閥來(lái)調(diào)節(jié)其運(yùn)動(dòng)速度。由于氣動(dòng)驅(qū)動(dòng)系統(tǒng)價(jià)格較低，所以氣動(dòng)夾持器在工業(yè)中應(yīng)用較為普遍。另外，由于氣體的可壓縮性，使氣動(dòng)手爪的抓取運(yùn)動(dòng)具有一定的柔順性，這一點(diǎn)是抓取動(dòng)作十分需要的。
2.電動(dòng)驅(qū)動(dòng)方式電動(dòng)驅(qū)動(dòng)手爪應(yīng)用也較為廣泛。這種手爪，一般采用直流伺服電機(jī)或步進(jìn)電機(jī)，并需要減速器以獲得足夠大的驅(qū)動(dòng)力和力矩。電動(dòng)驅(qū)動(dòng)方式可實(shí)現(xiàn)手爪的力與位置控制。但是，這種驅(qū)動(dòng)方式不能用于有防爆要求的條件下，因?yàn)殡姍C(jī)有可能產(chǎn)生火花和發(fā)熱。
3.液壓驅(qū)動(dòng)方式液壓驅(qū)動(dòng)系統(tǒng)傳動(dòng)剛度大，可實(shí)現(xiàn)連續(xù)位置控制。
2.5.3機(jī)器人夾持器的典型結(jié)構(gòu)
1.楔塊杠桿式手爪
利用楔塊與杠桿來(lái)實(shí)現(xiàn)手爪的松、開，來(lái)實(shí)現(xiàn)抓取工件。
2.滑槽式手爪
當(dāng)活塞向前運(yùn)動(dòng)時(shí)，滑槽通過(guò)銷子推動(dòng)手爪合并，產(chǎn)生夾緊動(dòng)作和夾緊力，當(dāng)活塞向后運(yùn)動(dòng)時(shí)，手爪松開。這種手爪開合行程較大，適應(yīng)抓取大小不同的物體。
3.連桿杠桿式手爪
這種手爪在活塞的推力下，連桿和杠桿使手爪產(chǎn)生夾緊（放松）運(yùn)動(dòng)，由于杠桿的力放大作用，這種手爪有可能產(chǎn)生較大的夾緊力。通常與彈簧聯(lián)合使用。
4.齒輪齒條式手爪
這種手爪通過(guò)活塞推動(dòng)齒條，齒條帶動(dòng)齒輪旋轉(zhuǎn)，產(chǎn)生手爪的夾緊與松開動(dòng)作。
5.平行杠桿式手爪
采用平行四邊形機(jī)構(gòu)，因此不需要導(dǎo)軌就可以保證手爪的兩手指保持平行運(yùn)動(dòng)，比帶有導(dǎo)軌的平行移動(dòng)手爪的摩擦力要小很多。
2.5.4設(shè)計(jì)具體采用方案
結(jié)合具體的工作情況，本設(shè)計(jì)采用連桿杠桿式的手爪。驅(qū)動(dòng)活塞往復(fù)移動(dòng)，通過(guò)活塞桿端部齒條，中間齒條及扇形齒條使手指張開或閉合。手指的最小開度由加工工件的直徑來(lái)調(diào)定。本設(shè)計(jì)按照工件的直徑為80--130mm來(lái)設(shè)計(jì)。手爪的具體結(jié)構(gòu)形式如圖9所示：
圖9 手爪的具體結(jié)構(gòu)
2.6機(jī)械手的機(jī)械傳動(dòng)機(jī)構(gòu)的設(shè)計(jì)
2.6.1工業(yè)機(jī)器人傳動(dòng)機(jī)構(gòu)設(shè)計(jì)應(yīng)注意的問(wèn)題
機(jī)器人是由多級(jí)聯(lián)桿和關(guān)節(jié)組成的多自由度的空間運(yùn)動(dòng)機(jī)構(gòu)。除直接驅(qū)動(dòng)型機(jī)器人以外，機(jī)器人各聯(lián)桿及各關(guān)節(jié)的運(yùn)動(dòng)都是由驅(qū)動(dòng)器經(jīng)過(guò)各種機(jī)械傳動(dòng)機(jī)構(gòu)進(jìn)行驅(qū)動(dòng)的。機(jī)器人所采用的傳動(dòng)機(jī)構(gòu)與一般機(jī)械的傳動(dòng)機(jī)構(gòu)相類似。常用的機(jī)械傳動(dòng)機(jī)構(gòu)主要有螺旋傳動(dòng)、齒輪傳動(dòng)、同步帶傳動(dòng)、高速帶傳動(dòng)等。由于傳動(dòng)部件直接影響著機(jī)器人的精度、穩(wěn)定性和快速響應(yīng)能力，因此，應(yīng)設(shè)計(jì)和選擇滿足傳動(dòng)間隙小，精度高，低摩擦、體積小、重量輕、運(yùn)動(dòng)平穩(wěn)、響應(yīng)速度快、傳遞轉(zhuǎn)矩大、諧振頻率高以及與伺服電動(dòng)機(jī)等其它環(huán)節(jié)的動(dòng)態(tài)性能相匹配等要求的傳動(dòng)部件。
在設(shè)計(jì)機(jī)器人的傳動(dòng)機(jī)構(gòu)時(shí)要注意以下問(wèn)題：
1.為了提高機(jī)器人的運(yùn)動(dòng)速度及控制精度，要求機(jī)器人各運(yùn)動(dòng)部件的重量要輕，慣量要小。因此，機(jī)器人的傳動(dòng)機(jī)構(gòu)要力求結(jié)構(gòu)緊湊，重量輕，體積小。
2.在傳動(dòng)鏈及運(yùn)動(dòng)副中要采用間隙調(diào)整機(jī)構(gòu)，以減小反向空回所造成的運(yùn)動(dòng)誤差。
3.系統(tǒng)傳動(dòng)部件的靜摩擦力應(yīng)盡可能小，動(dòng)摩擦力應(yīng)是盡可能小的正斜率，若為負(fù)斜率則易產(chǎn)生爬行，精度降低，壽命減小。因此，要采用低摩擦阻力的傳動(dòng)部件和導(dǎo)向支承部件，如滾珠絲杠副、滾動(dòng)導(dǎo)向支承等。
4.縮短傳動(dòng)鏈，提高傳動(dòng)與支承剛度，如用預(yù)緊的方法提高滾珠絲杠副和滾動(dòng)導(dǎo)軌副的傳動(dòng)和支承剛度；采用大扭矩、寬調(diào)速的直流或交流伺服電機(jī)直接與絲杠螺母副連接，以減小中間傳動(dòng)機(jī)構(gòu)；絲杠的支承設(shè)計(jì)采用兩端軸向預(yù)緊或預(yù)拉伸支承結(jié)構(gòu)等。
5.選用最佳傳動(dòng)比，以達(dá)到提高系統(tǒng)分辨率、減少等效到執(zhí)行元件輸出軸上的等效轉(zhuǎn)動(dòng)慣量，盡可能提高加速能力。
6.縮小反向死區(qū)誤差，如采取消除傳動(dòng)間隙、減少支承變形等措施。
7.適當(dāng)?shù)淖枘岜龋瑱C(jī)械零件產(chǎn)生共振時(shí)，系統(tǒng)的阻尼越大，最大振幅就越小，且衰減越快；但大阻尼也會(huì)使系統(tǒng)的失動(dòng)量和反轉(zhuǎn)誤差增大，穩(wěn)態(tài)誤差增大，精度降低。故在設(shè)計(jì)時(shí)要使傳動(dòng)機(jī)構(gòu)的阻尼合適。
2.6.2工業(yè)機(jī)器人常用的傳動(dòng)機(jī)構(gòu)形式
1.齒輪傳動(dòng)機(jī)構(gòu)
在機(jī)器人中常用的齒輪傳動(dòng)機(jī)構(gòu)有圓柱齒輪，圓錐齒輪，諧波齒輪，擺線針輪及蝸輪蝸桿傳動(dòng)等。
機(jī)器人系統(tǒng)中齒輪傳動(dòng)設(shè)計(jì)的一些問(wèn)題
齒輪傳動(dòng)形式及其傳動(dòng)比的最佳匹配選擇。齒輪傳動(dòng)部件是轉(zhuǎn)矩、轉(zhuǎn)速和轉(zhuǎn)向的變換器用于伺服系統(tǒng)的齒輪減速器是一個(gè)力矩變換器。齒輪傳動(dòng)比應(yīng)滿足驅(qū)動(dòng)部件與負(fù)載之間的位移及轉(zhuǎn)矩、轉(zhuǎn)速的匹配要求，其輸入電動(dòng)機(jī)為高轉(zhuǎn)速，低轉(zhuǎn)矩，而輸出則為低轉(zhuǎn)速，高轉(zhuǎn)矩。故齒輪傳動(dòng)系統(tǒng)要有足夠的剛度，還要求其轉(zhuǎn)動(dòng)慣量盡量小，以便在獲得同一加速度時(shí)所需的轉(zhuǎn)矩小，即在同一驅(qū)動(dòng)功率時(shí)，其加速度響應(yīng)最大。齒輪的嚙合間隙會(huì)造成傳動(dòng)死區(qū)（失動(dòng)量），若該死區(qū)是閉環(huán)系統(tǒng)中，則可能造成系統(tǒng)不穩(wěn)定，常使系統(tǒng)產(chǎn)生低頻振蕩，因此要盡量采用齒側(cè)間隙小，精度高的齒輪；為盡量降低制造成本，要采用調(diào)整齒側(cè)間隙的方法來(lái)消除或減小嚙合間隙，從而提高傳動(dòng)精度和系統(tǒng)的穩(wěn)定性。
2.3 manipulator arm structure design
According to the requirement, lathe to grab workpiece material arm has three degrees of freedom of the manipulator arm, and adjustable, turning around and drop (or pitch) movement.Turn and lifting movement of the arm is realized by pillar, column the lateral movement known as the shifting arm. Different campaigns have cylinder arm to realize.
2.3.1 manipulator arm design requirements
The robotic arm role, it is in a certain load and a certain speed, realize the work required in robot in space sport. When designing the robotic arm, follow the following principles;
1. Should as far as possible make the robotic arm each joint axis parallel; Perpendicular axis should as far as possible fellowship in a bit, so can make the robot kinematics inverse robot control simplifies, helps.
2. The robotic arm structure size should satisfy the requirements of robots work space. Working space shapes and sizes and robot arm length, arm joint rotation range have close relationship. But the robotic arm end work space does not consider the space robot wrist gesture requirements, if robot wrist gesture to specific request, it can realize space arms ends to less than the above did not consider the wrist gesture work space.
3. In order to improve the robot movement speed and control accuracy, should keep the robotic arm have enough under the condition of the strength and stiffness, as far as possible on the structure, material manage to reduce the weight of his arm. Strive to choose high intensity of lightweight materials, usually choose high-strength aluminum alloy manufacture a robotic arm. At present, in a foreign country, is also studying with carbon fiber composite materials manufacturing robot arm. Carbon fiber composite materials tensile strength, high ant-vibration sex good, small proportion (its proportion of 1/4 quite to steel, equivalent to aluminum alloy 2/3), but it is expensive, and in the performance stability and manufacturing complex shape workpiece exist problems of technology, it is not in application in practical production. At present more effective method is to use the finite element method for the optimization design of the robotic arm structure. The intensity and stiffness in ensuring the required under the weight of his arm, reduce the robot.
4. The robot of each joint bearing clearance as small as possible, in order to reduce to mechanical clearance error motion caused. Therefore, the joints should have reliable operation, easy adjustment bearing clearance adjustment institutions.
5. The robot arm relative to rotate the joints should as far as possible under the weight of the balance, the mechanical load and enhance decreases the response speed of the robotic arm movement is very favorable. In the design of robot arm, should as far as possible use in the robot of mechanical and electronic components and devices installed the weight of robotic arm to reduce weight, the unbalanced balancing mechanism when necessary to balance design remnants of unbalanced weight arm.
6. The robotic arm on the structure to consider all the joints with certain limit switches and buffering mechanical set blocks, and driving device, transmission mechanism and other components installed.
2.3.2 Design specific using scheme
Manipulator arm (arm) vertical lifting and level of arm (forearm) for linear motion telescopic movement. Linear motion realization is generally pneumatic transmission, hydraulic transmission and motor drive the ball screw to achieve. Considering the weight of carrying workpieces larger, consider the machining quality reaches the 30KG, belong to medium weight of the manipulator, and considering the stability of the dynamic performance and movement of the arm, the stiffness of safety, have higher demand. Comprehensive consideration, two arms driver all choose hydraulic drive mode, through hydraulic cylinder of direct drive, hydraulic cylinder is drive component and executive moving parts, and not to design another executive pieces; And the hydraulic cylinder realizing linear motion control simple, easy to realize the computer control.
For hydraulic system can provide great motivation, so in driving force and structural strength are relatively easy to implement, and the key is manipulator of stability and stiffness of the sports meet. Therefore the arm hydraulic cylinder of design principle is the diameter of the cylinder made great point (in overall structure's permission), then a nuclear strength.
manipulator arm cannot too big, if only by increasing the hydraulic cylinder of cylinder size to increase stiffness, cannot satisfy the system is the rigidity requirement. Therefore, in the design of the additional guide-bar mechanism, forearm add two guide bar, and piston rod together constitute an equilateral triangle section form, try to increase its stiffness; Big arms add four guide bar, a positive quadrilateral layout, to reduce the quality, each guide bar adopts hollow structure. By adding a guide bar, can significantly improve the stability and stiffness of the manipulator movement, good solve structure, reliability problems.
2.4 structure design of robot wrist
Robot arm movement (including the waist of the seat, and gives the rotary motion) robot end actuators in its working space position, which the movement in the end of the installation of robotic arm, then gives the wrist robot end actuators in the motion of its working space gesture. CaoZuoJi robot wrist is the end of the robot, and the robotic arm with exercise, realize the end of installation of wrist of actuators space with movement trajectory posture, finish the homework action needed.
2.4.1 The robot wrist structure design requirements
1. Freedom of robot wrist readings, should according to assignments need to design. The more robot wrist freedom, the number of each joint Angle, the robot wrist the greater flexibility of the robot is higher, the adaptability also rightness homework more strong. However, the increase of freedom, also will make the wrist structure more complex, robot control more difficult, costs will increase. Therefore, the wrist of freedom, should according to actual operation degree is required to determine. In meet operational requirements of the premise, should make free degree as less. General robot wrist freedom for 2 to 3 degree, some needs more freedom, and some robot wrist don't need freedom, with only the movement by the arm and waist can achieve operational requirements of the task. Therefore, to the concrete analysis of multiple layouts, consider robot, sports scheme, choose the simplest satisfy the requirements of the plan.
2. Robot wrist installed in the end of robot arm robot wrist, in the design, should strive to reduce the weight and volume to compact structure. In order to reduce the weight of robot wrist, wrist institutions drive sperating transmission. Wrist drive general installation in the arm, and do not adopt direct drive, and choose high-strength aluminum alloy manufacture.
3. Robot wrist to and end actuators connected, accordingly, want to have the standard connection to facilitate the flange, structure of loading and unloading end actuators.
4. Robot wrist institutions should have enough strength and stiffness, strength and movement to ensure the relay.
5. To have reliable transmission gap adjusting mechanism, to minimize returned empty clearance, improve the transmission precision.
6. The wrist of each joint axis rotation to limited a switch, and set limit to prevent hard out-of-gauge cause mechanical damage.
2.4.2 design specific adopts plan
Through the nc machine tools for feeding and unloading operations, considering the concrete analysis of concrete form CNC machine processing and manipulator up-down material operations in the specific requirements, and technological requirements of meet the system under the premise of improving safety and reliability of the structure of the manipulator, to make as far as possible simple, reduce the difficulty of the design and control of freedom, not to increase his wrist proved it is fully meet operational requirements of the three degrees of freedom, to realize the up-down material completely enough machine. Specific wrist (arms PAWS coupling beam) structure see figure 8.
Figure 8 . Lathe feeding manipulator finger
2.5 manipulator actuators (PAWS) structure designing
2.5.1 manipulator actuator design requirements
Robot end actuator is installed on the robot wrist used for an operation or additional device homework. Robot end, many different kinds of actuators, in order to adapt to the different assignments and operation robot requirements. End actuators can be divided into move use, processing with with and measurement etc.
Move use end actuators refers to all clamping device used to grab or adsorption transported objects.
Processing with end actuators with gun, welding torch is milling cutter, grinding wheel, such as the robot machining tool, used for additional device corresponding processing work.
With end actuator is measured with the additional head or sensors measuring device used to measuring and test operations.
In design robot end actuators, should pay attention to the following questions;
1. The robot end actuator is designed according to the operation requirement robot. A new terminal actuators occurrence, can increase a robotic new application places. Accordingly, according to the needs of the homework with people and create a new robot imagination, will continue at actuators expansion of the application field of robot.
2. The weight of the robot end actuators to grab objects and the sum of weight and operating force the load force. The robot allow Therefore, request the end-effector actuators small volume, light weight, compact structure.
3. The end-effector actuators with specificity is universal sexual paradox. Universal end actuators on the structure is complex, and even harder to achieve, for example, the universal humanoid multisensory dexterous robot hand yet practional utilization. At present, can be used to produce or those simple structure, universal sex not strong robot end actuators. Starting from the industrial application, should focus on the development of special, efficient robot end actuators, plus end actuators, in order to achieve the fast changing device of function, the robot is not advocated homework with a universal end actuators to complete variety of homework. Because this kind of everything the implementation of the structure is complex and expensive.
4. Versatility and universal sex are two concepts, universal sex machine, and refers to the multi-energy refers to the end of generality, limited actuators, suitable for different robots, which requires the end actuators have standard machine interface (such as flange), make end actuators realizes standardization and blocks digestion.
5. The end-effector actuators to facilitate installation and maintenance, easy to realize the computer control. Use computer control the most convenient is electric type actuator. Therefore, the industrial robot actuators mainstream is electric type, followed by the hydraulic and pneumatic type (in driving interface to increase electricity - liquid or electricity - air transform link).
2.5.2 robot grippers sports and drive mode
Robot grippers and machine hand claw. General industrial machine hand for double refers to how claws, PAWS. According to finger movement way, can be divided into back transformation and mobile type, press clamping way to points, within the clip type and supporting type two kinds.
Robot grippers (PAWS) drive mode basically has 3 kinds
1. Pneumatic drive mode this drive system is by electromagnetic valve to control the movement direction of the PAWS, with air regulator to adjust its movement speed. The pneumatic drive system of lower prices, so pneumatic grippers are widely used in industry. In addition, because gas compressibility, contentious hands-on claw grab motion has certain compliant sex, it is very need to grab action.
2. Electric drive mode of electric drive PAWS application also more widely. The PAWS, generally USES the dc servo motor or stepping motor, and need to get enough gear reducer driving force and torque. Electric drive mode can realize the force PAWS with position control. But this cannot be used for driving way under the condition of a explosion-proof requirements, because motor may produce sparks and fever.
3. Hydraulic drive mode hydraulic drive system transmission can achieve great stiffness.wherever continuous position control.
2.5.3 The typical structure robot grippers
1. Leveraged wedge PAWS
Using wedge block and levers to realize the pine, open PAWS, come to grab workpiece.
2. Slide groove PAWS
When the pistons forward movement, sliding channel through the pin PAWS merger, pushing produce clamping action and clamping force, when the pistons backward motion, PAWS loosen. This trip is larger, PAWS switching to grab different sizes of the object.
3. Connecting rod leveraged PAWS
The PAWS in Detroit, connecting rod and leverage thrust PAWS produce clamped to relax) movement, because (the force-magnifying function, leverage the PAWS might produce larger clamping force. Usually use a combination of and the spring.
4. Rack-and pinion type PAWS
The PAWS through the pistons pushing rack, rack driving gear rotating, produce the clamping PAWS with loosen action.
5. Parallel leveraged PAWS
Adopt parallelogram frame, so there is no need to guide can guarantee to keep the two fingers PAWS with parallel movement, the parallel rails than PAWS friction move to smaller.
2.5.4 design specific adopts plan
Combined with concrete works, this design USES the connecting rod of lever PAWS. Driven by piston, piston rod ends move, the middle rack and rack is fan rack makes the fingers open or closed. The minimum opening finger by machining diameter to the setting. This design according to the workpiece diameter of 80-130mm to design. The concrete structure form PAWS shown as shown in figure 9:
Figure 9 The specific structure PAWS
2.6 manipulator mechanical transmission design
2.6.1 industrial robot transmission mechanism design problems should be paid attention to
Robot is by multistage league stem and joint space composed of multi-degree-of-freedom sports organization. In addition to direct drive robot, robot outside each league rod and exercise is of each joint by drive through all kinds of mechanical transmission mechanism driven. Robot adopted the transmission mechanism