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第 1 頁 共 36 頁 目錄 1 緒論 ..............................................................................................................................1 1.1 機(jī)械手概述 ................................................................................................................1 1.2 機(jī)械手的組成和分類 ................................................................................................2 1.2.1 機(jī)械手的組成 ........................................................................................................2 1.2.2 機(jī)械手的分類 ........................................................................................................4 1.3 國內(nèi)外發(fā)展?fàn)顩r ........................................................................................................6 1.4 課題的提出及主要任務(wù) ............................................................................................8 1.4.1 課題的提出 ............................................................................................................8 1.4.2 課題的主要任務(wù) ....................................................................................................9 2 機(jī)械手的設(shè)計方案 ....................................................................................................10 2.1 機(jī)械手的座標(biāo)型式與自由度 ..................................................................................10 2.2 機(jī)械手的手部結(jié)構(gòu)方案設(shè)計 ..................................................................................10 2.3 機(jī)械手的手腕結(jié)構(gòu)方案設(shè)計 ..................................................................................10 2.4 機(jī)械手的手臂結(jié)構(gòu)方案設(shè)計 ..................................................................................10 2.5 機(jī)械手的驅(qū)動方案設(shè)計 ..........................................................................................11 2.6 機(jī)械手的控制方案設(shè)計 ..........................................................................................11 2.7 機(jī)械手的主要參數(shù) ..................................................................................................11 2.8 機(jī)械手的技術(shù)參數(shù)列表 ..........................................................................................11 3 手部結(jié)構(gòu)設(shè)計 ............................................................................................................14 3.1 夾持式手部結(jié)構(gòu) ......................................................................................................14 3.1.1 手指的形狀和分類 ..............................................................................................14 3.1.2 設(shè)計時考慮的幾個問題 ......................................................................................14 3.1.3 手部夾緊氣缸的設(shè)計 ..........................................................................................15 3.2 氣流負(fù)壓式吸盤 ......................................................................................................18 4 手腕結(jié)構(gòu)設(shè)計 ............................................................................................................21 4.1 手腕的自由度 ..........................................................................................................21 4.2 手腕的驅(qū)動力矩的計算 ..........................................................................................21 第 2 頁 共 36 頁 4.2.1 手腕轉(zhuǎn)動時所需的驅(qū)動力矩 ..............................................................................21 5 手臂結(jié)構(gòu)設(shè)計 ............................................................................................................25 5.1 手臂伸縮與手腕回轉(zhuǎn)部分 .....................................................................................25 5.1.1 結(jié)構(gòu)設(shè)計 ..............................................................................................................25 5.1.2 導(dǎo)向裝置 ..............................................................................................................26 5.1.3 手臂伸縮驅(qū)動力的計 ..........................................................................................26 5.2 手臂升降和回轉(zhuǎn)部分 .............................................................................................27 5.2.1 結(jié)構(gòu)設(shè)計 ..............................................................................................................27 5.3 手臂伸縮氣缸的設(shè)計 .............................................................................................28 5.4 手臂伸縮、升降用液壓緩沖器 .............................................................................31 5.5 手臂回轉(zhuǎn)用液壓緩沖器 .........................................................................................32 6 結(jié)論 ............................................................................................................................33 參考文獻(xiàn) ..........................................................................................................................34 致謝 ..................................................................................................................................36