三自由度圆柱坐标机械手毕业设计--167760623

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1、摘要自上世纪工业革命以来，大型重工业已经成为了人类社会发展的不可缺少的一部风。自从美国诞生了世界上第一台机械人后，很多国家都争先研究机器人技术。因为机器人技术可以帮助甚至替代人类在重工业生产，特别是高污染，高强度，高温度等人类不适宜的工作环境下高效率的工作。机械手作为机器人的重要组成部分，它种类繁多。动力方面，可以是电动的，也可以是液压差传动。主要由控制系统，执行系统，动力系统等系统组成，由伸缩臂，升降臂，机械抓手等部分，以PLC软件为操作，使机器手更加方便快捷的运用于人类的生产活动当中。关键词：机械手手臂圆柱坐标液压缸PLC

2、目录第1章绪论······················································51.1机械手发展现状················································51.2机器手种类······················································51.3机器手由哪些部分组成···········································51.4设计机器手目的···············

3、···································6第2章三自由度直角坐标机械手的整体设计方案·························72.1机械手的自由度和坐标形式的确定································72.2机械手的手部结构的确定方法··································72.3机械手的手臂结构的确定······································72.4机械手的驱动方案的确定··············

4、·························72.5机械手的控制方案的确定········································72.6机械手的参数确定··············································8第3章机械手底座··················································93.1设计参数·······················································93.2方案

5、设计······················································103.3液压马达的选择················································103.4回转支撑的选择················································113.5齿轮的强度校核················································133.6底座的方案确定··················

6、·······························13第4章机械手升降臂··············································154.1升降臂设计要求···············································154.1.1设计要求··················································154.1.2设计方案的选择············································

7、·154.2液压缸的选择·················································154.3执行原件主要参数的确定········································164.4升降臂的设计与计算············································184.5升降臂滑台设计···············································194.6撞快与形成开关的设计·················

8、························20第5章机械手伸缩臂·················································225.1伸缩臂的设计···········································