汽車生產線焊接機器人結構設計含CATIA三維及6張CAD圖.zip,汽車,生產線,焊接,機器人,結構設計,CATIA,三維,CAD Industrial Manipulator 工業(yè)機械手 資料來源：《Manufacturing Engineering and Technology-Machining》 機械手 機器人是近幾十年發(fā)展起來的一種高科技自動化生產設備。工業(yè)機械手是工業(yè) 機器人的一個重要分支。它的特點是可通過編程來完成各種預期的作業(yè)任務，在構 造和性能上兼有人和機器各自的優(yōu)點，尤其體現(xiàn)了人的智能和適應性。機械手作業(yè) 的準確性和各種環(huán)境中完成作業(yè)的能力，在國民經(jīng)濟各領域有著廣闊的發(fā)展前景。 隨著工業(yè)自動化的發(fā)展, 出現(xiàn)了數(shù)控加工中心,它在減輕工人的勞動強度的同時, 大大提高了勞動生產率。但數(shù)控加工中常見的上下料工序, 通常仍采用人工操作或 傳統(tǒng)繼電器控制的半自動化裝置。前者費時費工、效率低; 后者因設計復雜, 需較 多繼電器,接線繁雜, 易受車體振動干擾,而存在可靠性差、故障多、維修困難等問 題?？删幊绦蚩刂破?PLC 控制的上下料機械手控制系統(tǒng)動作簡便、線路設計合理、 具有較強的抗干擾能力, 保證了系統(tǒng)運行的可靠性,降低了維修率, 提高了工作效 率。機械手技術涉及到力學、機械學、電氣液壓技術、自動控制技術、傳感器技術 和計算機技術等科學領域，是一門跨學科綜合技術。 一、 工業(yè)機械手的概述 機械手是一種能自動化定位控制并可重新編程序以變動的多功能機器，它有多 個自由度，可用來搬運物體以完成在各個不同環(huán)境中工作。在工資水平較低的中國， 塑料制品行業(yè)盡管仍屬于勞動力密集型，機械手的使用已經(jīng)越來越普及。那些電子 和汽車業(yè)的歐美跨國公司很早就在它們設在中國的工廠中引進了自動化生產。但現(xiàn) 在的變化是那些分布在工業(yè)密集的華南、華東沿海地區(qū)的中國本土塑料加工廠也開 始對機械手表現(xiàn)出越來越濃厚的興趣，因為他們要面對工人流失率高，以及為工人交工傷費帶來的挑戰(zhàn)。 隨著我國工業(yè)生產的飛躍發(fā)展，特別是改革開發(fā)以后，自動化程度的迅速提高， 實現(xiàn)工件的裝卸、轉向、輸送或操作釬焊、噴槍、扳手等工具進行加工、裝配等作業(yè)自化，已愈來愈引起我們重視。 機械手是模仿著人手的部分動作，按給定的程序、軌跡和要求實現(xiàn)自動抓取、搬運或操作的自動機械裝置。 在現(xiàn)實生活中，你是否會發(fā)現(xiàn)這樣一個問題。在機械工廠里，加工零件裝料的 時候是不是很煩的，勞動生產率不高，生產成本大，有時候還會發(fā)生一些人為事故，導致加工者受傷。想想看用什么可以來代替呢，加工的時候只要有幾個人巡視一下，且可以二十四個小時飽和運作，人行嗎？回答是肯定的，但是機械手可以來代替它。 生產中應用機械手可以提高生產的自動化水平和勞動生產率;可以減輕勞動強 度、保證產品質量、實現(xiàn)安全生產；尤其是在高溫、高壓、低溫、低壓、粉塵、易 爆、有毒氣體和放射性等惡劣的環(huán)境中能夠代替人進行正常的工作。想到這里我就 很想設計一個機械手，來用于生產實際中。 為什么選著設計機械手用氣動來提供動力：氣動機械手是指以壓縮空氣為動力 源驅動的機械手。用氣壓驅動與其他能源驅動比較有以下優(yōu)點： 1.空氣取之不竭，用過之后排入大氣，不需要回收和處理，不污染環(huán)境。 （環(huán)保的概念） 2.空氣的沾性很小，管路中壓力損失也很?。ㄒ话銡饴纷枇p失不到油路的千分之一） ，便于遠距離輸送。 3.壓縮空氣的工作壓力較低(一般為 4～8 公斤/每平方厘米)，因此對動元件的材質和制造精度要求可以降低。 4.與液壓傳動相比，它的動作和反應都快，這是氣動突出的優(yōu)點之一。 5.空氣介質清潔，亦不會變質，管路不易堵塞。 但是也有它美中不足的地方： 1.由于空氣的可壓縮性，致使氣動工作的穩(wěn)定性差，因而造 成執(zhí)行機構運動速度和定為精度不易控制。 2.由于使用氣壓較低，輸出力不可能太大，為了增加輸出力，必然使整個氣動系統(tǒng)的結構尺寸加大。 用氣壓驅動與用其他能源驅動比較有以下優(yōu)點： 空氣取之不竭，用過之后排入大氣，不需回收和處理，不污染環(huán)境。偶然的或 少量的泄漏不致對生產發(fā)生嚴重的影響。 空氣的粘性很小，管路中壓力損失也就很小，便于遠距離輸送。壓縮空氣的工作壓力較低，因此對氣動元件的材質和制造精度要求可以降低。一般說來，往復運動推力在 1~2 噸以下采用氣動經(jīng)濟性較好。 與液壓傳動相比，它的動作和反應都快，這是氣動的突出優(yōu)點之一。空氣介質清潔，亦不會變質，管路不易堵塞。 它可安全地應用在易燃、易爆和粉塵大的場合。又便于實現(xiàn)過載自動保護。 二﹑機械手的組成 機械手的形式是多種多樣的，有的較為簡單，有的較為復雜，但基本的組成形 式是相同的，一般由執(zhí)行機構、傳動系統(tǒng)、控制系統(tǒng)和輔助裝置組成。 1. 執(zhí)行機構 機械手的執(zhí)行機構，由手、手腕、手臂、支柱組成。手是抓取機構，用來夾緊和松開工件，與人的手指相仿，能完成人手的類似動作。手腕是連接手指與手臂的 元件，可以進行上下、左右和回轉動作。簡單的機械手可以沒有手腕。支柱用來支 撐手臂，也可以根據(jù)需要做成移動。 2. 傳動系統(tǒng) 執(zhí)行機構的動作要由傳動系統(tǒng)來實現(xiàn)。常用機械手傳動系統(tǒng)分機械傳動、液壓 傳動、氣壓傳動和電力傳動等幾種形式。 3. 控制系統(tǒng) 機械手控制系統(tǒng)的主要作用是控制機械手按一定的程序、方向、位置、速度進行動作，簡單的機械手一般不設置專用的控制系統(tǒng)，只采用行程開關、繼電器、控 制閥及電路便可實現(xiàn)動傳動系統(tǒng)的控制，使執(zhí)行機構按要求進行動作．動作復雜的 機械手則要采用可編程控制器、微型計算機進行控制。 三﹑ 機械手的分類和特點 機械手一般分為三類：第一類是不需要人工操作的通用機械手。它是一種獨立 的不附屬于某一主機的裝置。它可以根據(jù)任務的需要編制程序，以完成各項規(guī)定的操作。它的特點是具備普通機械的性能之外，還具備通用機械、記憶智能的三元機械。第二類是需要人工才做的，稱為操作機。它起源于原子、軍事工業(yè)，先是通過 操作機來完成特定的作業(yè)，后來發(fā)展到用無線電訊號操作機來進行探測月球等。工 業(yè)中采用的鍛造操作機也屬于這一范疇。第三類是用專用機械手，主要附屬于自動 機床或自動線上，用以解決機床上下料和工件送。這種機械手在國外稱為 “Mechanical Hand”，它是為主機服務的，由主機驅動；除少數(shù)以外，工作程序 一般是固定的，因此是專用的。 主要特點： (1) 機械手（上下料機械手、裝配機械手、搬運機械手、堆垛機械手、助力機 械手、真空搬運機、真空吸吊機、省力吊具、氣動平衡器等）。 (2) 懸臂起重機（懸臂吊、電動環(huán)鏈葫蘆吊、氣動平衡吊等） (3) 導軌式搬運系統(tǒng)（懸掛軌道、輕型軌道、單梁起重機、雙梁起重機） 四﹑工業(yè)機械手的應用 機械手是在機械化、自動化生產過程中發(fā)展起來的一種新型裝置。近年來，隨著電子技術特別是電子計算機的廣泛應用，機器人的研制和生產已成為高技術領域 內迅速發(fā)展起來的一門新興技術，它更加促進了機械手的發(fā)展，使得機械手能更好地實現(xiàn)與機械化和自動化的有機結合。 機械手雖然目前還不如人手那樣靈活，但它具有能不斷重復工作和勞動、不知疲勞、不怕危險、抓舉重物的力量比人手大等特點，因此，機械手已受到許多部門的重視，并越來越廣泛地得到了應用，例如： (1) 機床加工工件的裝卸，特別是在自動化車床、組合機床上使用較為普遍。 (2) 在裝配作業(yè)中應用廣泛，在電子行業(yè)中它可以用來裝配印制電路板，在機械行業(yè)中它可以用來組裝零部件。 (3) 可在勞動條件差，單調重復易子疲勞的工作環(huán)境工作，以代替人的勞動。 (4) 可在危險場合下工作，如軍工品的裝卸、危險品及有害物的搬運等。 (5) 宇宙及海洋的開發(fā)。 (6) 軍事工程及生物醫(yī)學方面的研究和試驗。 助力機械手:又稱平衡器、平衡吊、省力吊具、手動移載機等，是一種無重力化手動承載系統(tǒng)，一種新穎的、用于物料搬運時省力化操作的助力設備,屬于一種非標設計的系列化產品。針對客戶應用需求，量身定制的個案創(chuàng)作。 一種模擬人手操作的自動機械，它可按固定程序抓取﹑搬運物件或操持工具完 成某些特定操作。應用機械手可以代替人從事單調﹑重復或繁重的體力勞動，實現(xiàn) 生產的機械化和自動化，代替人在有害環(huán)境下的手工操作，改善勞動條件，保證人身安全。20世紀40 年代后期，美國在原子能實驗中，首先采用機械手搬運放射性 材料，人在安全室操縱機械手進行各種操作和實驗。50 年代以后，機械手逐步推廣到工業(yè)生產部門，用于在高溫﹑污染嚴重的地方取放工件和裝卸材料，也作為機床 的輔助裝置在自動機床﹑自動生產線和加工中心中應用，完成上下料或從刀庫中取放刀具并按固定程序更換刀具等操作。機械手主要由手部機構和運動機構組成。手部機構隨使用場合和操作對象而不同，常見的有夾持﹑托持和吸附等類型。運動機構一般由液壓﹑氣動﹑電氣裝置驅動。機械手可獨立地實現(xiàn)伸縮﹑旋轉和昇降等運動，一般有 2～3個自由度。機械手廣泛用于機械製造﹑冶金﹑輕工和原子能等部門。能模仿人手和臂的某些動作功能，用以按固定程序抓取、搬運物件或操作工具的自動操作裝置。它可代替人的繁重勞動以實現(xiàn)生產的機械化和自動化，能在有害 環(huán)境下操作以保護人身安全，因而廣泛應用于機械制造、冶金、電子、輕工和原子 能等部門。機械手通常用作機床或其他機器的附加裝置，如在自動機床或自動生產線上裝卸和傳遞工件，在加工中心中更換刀具等，一般沒有獨立的控制裝置。有些操作裝置需要由人直接操縱，如用于原子能部門操持危險物品的主從式操作手也常稱為機械手。 機械手主要由手部和運動機構組成。手部是用來抓持工件（或工具）的部件，根據(jù)被抓持物件的形狀、尺寸、重量、材料和作業(yè)要求而有多種結構形式，如夾持型、托持型和吸附型等。運動機構，使手部完成各種轉動（擺動）、移動或復合運動來實現(xiàn)規(guī)定的動作，改變被抓持物件的位置和姿勢...... 機械手是在自動化生產過程中使用的一種具有抓取和移動工件功能的自動化裝置，它是在機械化、自動化生產過程中發(fā)展起來的一種新型裝置。近年來，隨著電子技術特別是電子計算機的廣泛應用，機器人的研制和生產已成為高技術領域內迅速發(fā)展起來的一門新興技術，它更加促進了機械手的發(fā)展，使得機械手能更好地 實現(xiàn)與機械化和自動化的有機結合。 機械手能代替人類完成危險、 重復枯燥的工作， 減輕人類勞動強度，提高勞動生產力。機械手越來越廣泛的得到了應用，在機械行 業(yè)中它可用于零部件組裝，加工工件的搬運、裝卸，特別是在自動化數(shù)控機床、組合機床上使用更普遍。目前，機械手已發(fā)展成為柔性制造系統(tǒng) FMS 和柔性制造單元FMC中一個重要組成部分。把機床設備和機械手共同構成一個柔性加工系統(tǒng)或柔性制造單元，它適應于中、小批量生產，可以節(jié)省龐大的工件輸送裝置，結構緊湊，而且適應性很強。當工件變更時，柔性生產系統(tǒng)很容易改變，有利于企業(yè)不斷更新 適銷對路的品種，提高產品質量，更好地適應市場競爭的需要。而目前我國的工業(yè)機器人技術及其工程應用的水平和國外比還有一定的距離，應用規(guī)模和產業(yè)化水平低，機械手的研究和開發(fā)直接影響到我國自動化生產水平的提高，從經(jīng)濟上、技術上考慮都是十分必要的。因此，進行機械手的研究設計是非常有意義的。 來自《制造工程與技術 - 加工》 機械工業(yè)出版社2004年3月版 卡爾·帕克（ANG） S.R Mide（Steven R.Schmid）。 XXXX Design of a Highly Maneuverable Mobile Robot （一種高機移動機器人的設計） 資料來源： 《Manufacturing Engineering and Technology-Machining》 設計題目： 學生姓名： 學院名稱： 專業(yè)名稱： 班級名稱： 學 號： 指導教師： 教師職稱： 完成時間： 20 XX 年 XX 月 XX 日 指導教師資格及題目審批表 指導教師姓名 所在單位 指導教師職稱 所學專業(yè) 設計（論文）題目 汽車生產線焊接機器人結構設計 題 目 類 型 設計 √ 題 目 來 源 科 研 實驗室建設 論文 工程生產 √ 自 擬 題目真實性程度 真實 √ 題目新舊 新題 √ 難度 等級 難 一般 模擬 舊題 較難 √ 設計（論文）地點 校內 √ 設計（論文）時間 自 3 月 13 日 至 6 月 1 日 校外 題目概要（設計（論文）的目的、可行性、技術路線等）： 本課題來源于長春工程學院畢業(yè)設計題目。以中小型工業(yè)焊接機器人為研究對象，要求學生綜合運用所學基礎理論知識，根據(jù)噴涂工件來設計焊接機器人的結構尺寸、重量，進行結構選型、機構設計。本課題的研究從功能需求分析入手，根據(jù)設計要求，構思機構運動形式、結構尺寸和傳動布局，并進行機構、零部件設計計算等環(huán)節(jié)的實踐，來培養(yǎng)學生的設計、計算、繪制及計算機應用能力，以提高同學分析與解決工程實際問題的能力。 技術路線： （1）焊接機器人總體方案的設計； （2）焊接機器人總體結構的設計與計算。包括底座，旋轉體，大臂，小臂，傳動機構，手腕，手部關節(jié)，肘關節(jié)的設計與計算； （3）焊接機器人連接與傳動部分的選型及設計。包括傳動機構的設計計算、電機以及標準件的選型； （4）焊接機器人的強度校核。對機械臂的手部、大臂、小臂、肘部的零件根據(jù)相關計算原理進行校核。 （5）焊接機器人的運動學分析。 （6）焊接機器人的結構總裝圖和零件工作圖的繪制。 教研室意見： 教研室主任簽字： 年 月 日 學院（系）審查意見： 院長（系主任）簽字： 年 月 日 備注：1.此表由擬擔任畢業(yè)設計（論文）指導工作的教師填寫，每個題目填報一張表，一式兩份； 2.部分分項填寫時，只在對應項內打“√”即可； 3.表中真實題目是指在學校、生產、科研及其它單位實際立項的課題； 4.指導教師如果是外聘，應在所在單位欄中加注（外聘）字樣； 5.在畢業(yè)設計（論文）工作開始前，各院（系）將此表匯總，報教務處備案。 外文出處 Manufacturing Engineering and Technology Machining Manipulator Robot developed in recent decades as high tech automated production equipment Industrial robot is an important branch of industrial robots It features can be programmed to perform tasks in a variety of expectations in both structure and performance advantages of their own people and machines in particular reflects the people s intelligence and adaptability The accuracy of robot operations and a variety of environments the ability to complete the work in the field of national economy and there are broad prospects for development With the development of industrial automation there has been CNC machining center it is in reducing labor intensity while greatly improved labor productivity However the upper and lower common in CNC machining processes material usually still use manual or traditional relay controlled semi automatic device The former time consuming and labor intensive inefficient the latter due to design complexity require more relays wiring complexity vulnerability to body vibration interference while the existence of poor reliability fault more maintenance problems and other issues Programmable Logic Controller PLC controlled robot control system for materials up and down movement is simple circuit design is reasonable with a strong anti jamming capability ensuring the system s reliability reduced maintenance rate and improve work efficiency Robot technology related to mechanics mechanics electrical hydraulic technology automatic control technology sensor technology and computer technology and other fields of science is a cross disciplinary integrated technology First an overview of industrial manipulator Robot is a kind of positioning control can be automated and can be re programmed to change in multi functional machine which has multiple degrees of freedom can be used to carry an object in order to complete the work in different environments Low wages in China plastic products industry although still a labor intensive mechanical hand use has become increasingly popular Electronics and automotive industries that Europe and the United States multinational companies very early in their factories in China the introduction of automated production But now the changes are those found in industrial intensive South China East China s coastal areas local plastic processing plants have also emerged in mechanical watches began to become increasingly interested in because they have to face a high turnover rate of workers as well as for the workers to pay work related injuries fee challenges With the rapid development of China s industrial production especially the reform and opening up after the rapid increase in the degree of automation to achieve the workpiece handling steering transmission or operation of brazing spray gun wrenches and other tools for processing and assembly operations since which has more and more attracted our attention Robot is to imitate the manual part of the action according to a given program track and requirements for automatic capture handling or operation of the automatic mechanical devices In real life you will find this a problem In the machine shop the processing of parts loading time is not annoying and labor productivity is not high the cost of production major and sometimes man made incidents will occur resulting in processing were injured Think about what could replace it with the processing time of a tour as long as there are a few people and can operate 24 hours saturated human right The answer is yes but the robot can come to replace it Production of mechanical hand can increase the automation level of production and labor productivity can reduce labor intensity ensuring product quality to achieve safe production particularly in the high temperature high pressure low temperature low pressure dust explosive toxic and radioactive gases such as poor environment can replace the normal working people Here I would like to think of designing a robot to be used in actual production Why would a robot designed to provide a pneumatic power pneumatic robot refers to the compressed air as power source driven robot With pressure driven and other energy driven comparison have the following advantages 1 Air inexhaustible used later discharged into the atmosphere does not require recycling and disposal do not pollute the environment Concept of environmental protection 2 Air stick is small the pipeline pressure loss is small typically less than asphalt gas path pressure drop of one thousandth to facilitate long distance transport 3 Compressed air of the working pressure is low usually 4 to 8 kg per square centimeter and therefore moving the material components and manufacturing accuracy requirements can be lowered 4 With the hydraulic transmission compared to its faster action and reaction which is one of the advantages pneumatic outstanding 5 The air cleaner media it will not degenerate not easy to plug the pipeline But there are also places where it fly in the ointment 1 As the compressibility of air resulting in poor aerodynamic stability of the work resulting in the implementing agencies as the precision of the velocity and not easily controlled 2 As the use of low atmospheric pressure the output power can not be too large in order to increase the output power is bound to the structure of the entire pneumatic system size increased With pneumatic drive and compare with other energy sources drive has the following advantages Air inexhaustible used later discharged into the atmosphere without recycling and disposal do not pollute the environment Accidental or a small amount of leakage would not be a serious impact on production Viscosity of air is small the pipeline pressure loss also is very small easy long distance transport The lower working pressure of compressed air pneumatic components and therefore the material and manufacturing accuracy requirements can be lowered In general reciprocating thrust in 1 to 2 tons pneumatic economy is better Compared with the hydraulic transmission and its faster action and reaction which is one of the outstanding merits of pneumatic Clean air medium it will not degenerate not easy to plug the pipeline It can be safely used in flammable explosive and the dust big occasions Also easy to realize automatic overload protection Second the composition mechanical hand Robot in the form of a variety of forms some relatively simple some more complicated but the basic form is the same as the composition of the Usually by the implementing agencies transmission systems control systems and auxiliary devices composed 1 Implementing agencies Manipulator executing agency by the hands wrists arms pillars Hands are crawling institutions is used to clamp and release the workpiece and similar to human fingers to complete the staffing of similar actions Wrist and fingers and the arm connecting the components can be up and down left and rotary movement A simple mechanical hand can not wrist Pillars used to support the arm can also be made mobile as needed 2 Transmission The actuator to be achieved by the transmission system Sub transmission system commonly used manipulator mechanical transmission hydraulic transmission pneumatic and electric power transmission and other drive several forms 3 Control System Manipulator control system s main role is to control the robot according to certain procedures direction position speed of action a simple mechanical hand is generally not set up a dedicated control system using only trip switches relays control valves and circuits can be achieved dynamic drive system control so that implementing agencies according to the requirements of action Action will have to use complex programmable robot controller the micro computer control Three mechanical hand classification and characteristics Robots are generally divided into three categories the first is the general machinery does not require manual hand It is an independent not affiliated with a particular host device It can be programmed according to the needs of the task to complete the operation of the provisions It is characterized with ordinary mechanical performance also has general machinery memory intelligence ternary machinery The second category is the need to manually do it called the operation of aircraft It originated in the atom military industry first through the operation of machines to complete a particular job and later developed to operate using radio signals to carry out detecting machines such as the Moon Used in industrial manipulator also fall into this category The third category is dedicated manipulator the main subsidiary of the automatic machines or automatic lines to solve the machine up and down the workpiece material and delivery This mechanical hand in foreign countries known as the Mechanical Hand which is the host of services from the host driven exception of a few outside the working procedures are generally fixed and therefore special Main features First mechanical hand the upper and lower material robot assembly robot handling robot stacking robot help robot vacuum handling machines vacuum suction crane labor saving spreader pneumatic balancer etc Second cantilever cranes cantilever crane electric chain hoist crane air balance the hanging etc Third rail type transport system hanging rail light rail single girder cranes double beam crane Four industrial machinery application of hand Manipulator in the mechanization and automation of the production process developed a new type of device In recent years as electronic technology especially computer extensive use of robot development and production of high tech fields has become a rapidly developed a new technology which further promoted the development of robot allowing robot to better achieved with the combination of mechanization and automation Although the robot is not as flexible as staff but it has to the continuous duplication of work and labor I do not know fatigue not afraid of danger the power snatch weight characteristics when compared with manual large therefore mechanical hand has been of great importance to many sectors and increasingly has been applied widely for example 1 Machining the workpiece loading and unloading especially in the automatic lathe combination machine tool use is more common 2 In the assembly operations are widely used in the electronics industry it can be used to assemble printed circuit boards in the machinery industry It can be used to assemble parts and components 3 The working conditions may be poor monotonous repetitive easy to sub fatigue working environment to replace human labor 4 May be in dangerous situations such as military goods handling dangerous goods and hazardous materials removal and so on 5 Universe and ocean development 6 military engineering and biomedical research and testing Help mechanical hands also known as the balancer balance suspended labor saving spreader manual Transfer machine is a kind of weightlessness of manual load system a novel time saving technology for material handling operations booster equipment belonging to kinds of non standard design of series products Customer application needs creating customized cases Manual operation of a simulation of the automatic machinery it can be a fixed program draws handling objects or perform household tools to accomplish certain specific actions Application of robot can replace the people engaged in monotonous repetitive or heavy manual labor the mechanization and automation of production instead of people in hazardous environments manual operation improving working conditions and ensure personal safety The late 20th century 40 the United States atomic energy experiments the first use of radioactive material handling robot human robot in a safe room to manipulate various operations and experimentation 50 years later manipulator and gradually extended to industrial production sector for the temperatures polluted areas and loading and unloading to take place the work piece material but also as an auxiliary device in automatic machine tools machine tools automatic production lines and processing center applications the completion of the upper and lower material or From the library take place knife knife and so on according to fixed procedures for the replacement operation Robot body mainly by the hand and sports institutions Agencies with the use of hands and operation of objects of different occasions often there are clamping support and adsorption type of care Movement organs are generally hydraulic pneumatic electrical device drivers Manipulator can be achieved independently retractable rotation and lifting movements generally 2 to 3 degrees of freedom Robots are widely used in metallurgical industry machinery manufacture light industry and atomic energy sectors Can mimic some of the staff and arm motor function a fixed procedure for the capture handling objects or operating tools automatic operation device It can replace human labor in order to achieve the production of heavy mechanization and automation that can operate in hazardous environments to protect the personal safety which is widely used in machinery manufacturing metallurgy electronics light industry and nuclear power sectors Mechanical hand tools or other equipment commonly used for additional devices such as the automatic machines or automatic production line handling and transmission of the workpiece the replacement of cutting tools in machining centers etc generally do not have a separate control device Some operating devices require direct manipulation by humans such as the atomic energy sector performs household hazardous materials used in the master slave manipulator is also often referred to as mechanical hand Manipulator mainly by hand and sports institutions Task of hand is holding the workpiece or tool components according to grasping objects by shape size weight material and operational requirements of a variety of structural forms such as clamp type type and adsorption based care such as holding Sports organizations so that the completion of a variety of hand rotation swing mobile or compound movements to achieve the required action to change the location of objects by grasping and posture Robot is the automated production of a kind used in the process of crawling and moving piece features automatic device which is mechanized and automated production process developed a new type of device In recent years as electronic technology especially computer extensive use of robot development and production of high tech fields has become a rapidly developed a new technology which further promoted the development of robot allowing robot to better achieved with the combination of mechanization and automation Robot can replace humans completed the risk of duplication of boring work to reduce human labor intensity and improve labor productivity Manipulator has been applied more and more widely in the machinery industry it can be used for parts assembly work piece handling loading and unloading particularly in the automation of CNC machine tools modular machine tools more commonly used At present the robot has developed into a FMS flexible manufacturing systems and flexible manufacturing cell in an important component of the FMC The machine tool equipment and machinery in hand together constitute a flexible manufacturing system or a flexible manufacturing cell it was adapted to small and medium volume production you can save a huge amount of the work piece conveyor device compact and adaptable When the work piece changes flexible production system is very easy to change will help enterprises to continuously update the marketable variety improve product quality and better adapt to market competition At present China s industrial robot technology and its engineering application level and comparable to foreign countries there is a certain distance application and industrialization of the size of the low level of robot research and development of a direct impact on raising the level of automation in China from the economy technical considerations are very necessary Therefore the study of mechanical hand design is very meaningful From Manufacturing Engineering and Technology Machining Machinery Industry Press in 2004 March Edition S Carle Puckey ANN Serope kalpakjian S R Mide Steven R Schmid