多自由度机械手结构设计毕业论文设计.doc

多自由度机械手结构设计（2号黑体） 摘要（小3号黑体） （中文摘要小4号楷体。一般为300～500字，概括地反映毕业论文的目的、内容、方法、结果和结论，摘要不宜使用公式、图表，不标注引用文编号，不能分段）机械手是近几十年发展起来的一种高科技自动化生产设备。它的特点是可通过编程来完成各种预期的作业任务，在构造和性能上兼有人和机器各自的优点，尤其体现了人的智能和适应性。机械手作业的准确性和各种环境中完成作业的能力，在国民经济各领域有着广阔的发展前景。本文主要叙述了机械手的设计和计算过程 。首先，本文介绍机械手的作用，机械手的组成和分类，说明了自由度和机械手整体座标的形式。接着，根据给定的工作要求，定出了机械手的主要性能参数，如伸缩行程、伸缩速度、升降行程、升降速度、回转范围等，并确定了总体的设计方案。然后，根据的的设计方案，分别进行手部、臂部和机身的设计和计算。最后，设计液压回路和控制系统。本设计的控制对象是机械手上的三个液压缸和一个电磁铁手部，而选择可编程控制器(PLC)作为机械手的控制系统，这对提升机械手的整体技术性能起到了良好的作用。本设计的重点放在机械手每个组成部分的设计和计算上。在整体设计过程中按照“提出问题，分析问题，解决问题”的主导思想，对整个系统的设计工作做出了细致的阐述。 关键词（小3号黑体）：（小4号楷体，关键词3～8个）机械手；液压传动；液压缸；电磁铁；可编程控制器 Multi-degree-of-freedom manipulator of structural design Abstract (英文用Times New Roman，字号与中文要求相同)The manipulator is a kind of high-technology automation production equipment which developed in the nearly several dozens years. It may complete each kind of anticipated task through the programming. At the same time, it also has the human and the machine respective merit in constructs and in the performance, especially has manifested the human intelligence and the compatibility. The works accuracy and the ability to conform to each kind of environment ensure that the manipulator have the broad prospects for development in various domains of national economy. This article mainly narrated manipulators design and the computational process. Firstly, this article introduced manipulators function, composition and the classification, showed the manipulators degree-of-freedom and it’s overall coordinate form. Then, according to the work requirement, which assigns, decide the manipulators main performance parameter, such as the expansion-traveling schedule, the expansion speed, the fluctuation traveling schedule, the fluctuation speed, the rotation scope and so on, and have also determined the overall design proposal. After that, according to the design proposal, design and the commutate the hand, the arm department separately and the fuselage. Finally, design hydraulic circuit and co