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目錄
摘 要 I
ABSTRACT II
第1章 緒論 1
1.1機(jī)械手的簡(jiǎn)介 1
1.2機(jī)械手的簡(jiǎn)史.................................................................................................2
1.3機(jī)械手的組成................................................................................................4
1.3.1執(zhí)行機(jī)構(gòu)...............................................................................................4
1.3.2驅(qū)動(dòng)機(jī)構(gòu)...............................................................................................6
1.3.3控制系統(tǒng)及其分類(lèi)...............................................................................6
1.4機(jī)械手的發(fā)展趨勢(shì)........................................................................................6
1.5機(jī)械手的自由度和座標(biāo)型式........................................................................8
1.5.1機(jī)械手的自由度...................................................................................8
1.5.2座標(biāo)型式...............................................................................................8
1.6機(jī)械手的展望.............................................................................................,10
1.7本章小結(jié)......................................................................................................11
第2章 焊接機(jī)械手的總體設(shè)計(jì)方案.....................................................................13
2.1方案設(shè)計(jì)......................................................................................................13
2.1.1方案要求.............................................................................................13
2.1.2設(shè)計(jì)方案的確定.................................................................................14
2.2傳動(dòng)結(jié)構(gòu)設(shè)計(jì)與分析..................................................................................16
2.2.1 腰部傳動(dòng)機(jī)構(gòu)....................................................................................16
2.2.2 大臂傳動(dòng)機(jī)構(gòu)....................................................................................17
2.2.3 小臂和焊槍夾具傳動(dòng)機(jī)構(gòu)................................................................18
2.3 執(zhí)行機(jī)構(gòu)的設(shè)計(jì)與分析.............................................................................19
2.3.1 腰部....................................................................................................19
2.3.2 大臂....................................................................................................21
2.3.3 小臂......................................................................................................21
2.4 整體設(shè)計(jì)方案示意圖..................................................................................22
2.5本章小結(jié).......................................................................................................23
第3章 機(jī)械手的建模.............................................................................................25
3.1三維建模軟件Solidworks的介紹..............................................................25
3.2 Solidworks建模..........................................................................................26
3.3本章小結(jié)......................................................................................................27
第4章 機(jī)械手二維制圖.........................................................................................29
4.1 二維繪圖軟件AutoCAD的介紹..............................................................29
4.2 AutoCAD繪圖.........................................................................................29
4.3本章小結(jié)......................................................................................................32
第5章 Adams仿真和Ansys分析..........................................................................33
5.1 運(yùn)用Adams對(duì)機(jī)械手進(jìn)行仿真模擬.......................................................33
5.1.1 Adams軟件介紹.............................................................................33
5.1.2 仿真前的準(zhǔn)備工作—造型............................................................34
5.1.3 Adams仿真步驟.............................................................................34
5.2 對(duì)主要承載構(gòu)件進(jìn)行有限元分析...........................................................41
5.2.1 主要承載構(gòu)件材料及特性............................................................41
5.2.2 底座的有限元分析........................................................................42
5.3 本章小結(jié)...................................................................................................44
參考文獻(xiàn)................................................................................................................45
致謝........................................................................................................................47
譯文和原文.............................................................................................................49
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摘 要
由于焊接工作的需要，人們經(jīng)常遭受腐蝕、高溫及有毒氣體等因素的危害，不僅工人的勞動(dòng)強(qiáng)度大，而且危及生命，因此焊接機(jī)械手孕育而生。它代替焊工自動(dòng)化完成各種焊接任務(wù)，一方面使工人的勞動(dòng)條件得到改善，另一方面，焊接機(jī)械手焊接質(zhì)量穩(wěn)定且大大提高勞動(dòng)生產(chǎn)率。所以焊接機(jī)械手的應(yīng)用及發(fā)展前景巨大。
本文從以下五個(gè)部分闡述此次設(shè)計(jì)的內(nèi)容：
（1）了解機(jī)械手的概念、簡(jiǎn)史、現(xiàn)狀和未來(lái)發(fā)展，明確設(shè)計(jì)機(jī)械手的實(shí)際意義，掌握機(jī)械手的基本組成，為設(shè)計(jì)焊接機(jī)械手做好相應(yīng)的準(zhǔn)備工作。
（2）對(duì)焊接機(jī)械手進(jìn)行總體方案設(shè)計(jì)，包括自由度的確定、驅(qū)動(dòng)機(jī)構(gòu)即電機(jī)的選擇、傳動(dòng)形式的確定、執(zhí)行機(jī)構(gòu)的設(shè)計(jì)等。
（3）運(yùn)用solidworks軟件對(duì)焊接機(jī)械手進(jìn)行三維實(shí)體建模，全部零件建模后虛擬裝配。
（4）基于solidworks軟件“導(dǎo)入工程圖”功能，在AutoCAD軟件中中完成對(duì)典型零件和總裝配體的二維圖繪制。
（5）在ADAMS軟件中對(duì)簡(jiǎn)化的機(jī)械手模型進(jìn)行運(yùn)動(dòng)仿真，并在solidworks中完成對(duì)主要承載構(gòu)件的有限元分析。
（6）完成20000字符以上的相關(guān)英文資料翻譯。
關(guān)鍵詞：四自由度焊接機(jī)械手；結(jié)構(gòu)設(shè)計(jì)；三維建模；運(yùn)動(dòng)仿真；有限元分析
ABSTRACT
To do soldering work, people often suffer corrosion, high tempreture ，poisonous gas and some other damages. Labors have to bear high intensity work and it is dangerous for their lives. That is the reason for generation of welding manipulator.The welding manipulator can finish welding missions automatically. On the one hand,it improves labors' working environment. On the other hand, it also keeps a high quality of welding and promotes effeciency. So There is a good development prospect for the welding manipulator.
This thesis consists of five chapters to state the design:
(1) Introduce welding manipulator's definition, general history, current situation and development prospect. Confirm the pratical purpose of designing welding manipulators .Understand its basic parts. Prepare for the design.
(2) Take a general design for the welding manipulator, including freedom level, driving machanism, type of belt drive, actuator and so on.
(3) Build a solid model of welding manipulator by solidworks. Make a virtual assembly after building all elements' model
(4) Based on solidworks software "import engineering drawing " function, done in AutoCAD software for typical parts and assembly of 2 d graph.
(5) In the ADAMS software to motion simulation for a simplified mechanical model in solidworks and complete finite element analysis of the main bearing components.
(6) Complete translating English materrial which is more than 20000 words.
Keywords: Four degrees of freedom of welding manipulator; Structure design; 3 d
modeling; Motion simulation; The finite element analysis
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