三自由度圆柱坐标机械手毕业设计.pdf

河北工程大学毕业设计

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

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河北工程大学毕业设计

目录

第1章绪论······················································5

1.1机械手发展现状················································5

1.2机器手种类······················································5

1.3机器手由哪些部分组成···········································5

1.4设计机器手目的··················································6

第2章三自由度直角坐标机械手的整体设计方案·························7

2.1机械手的自由度和坐标形式的确定································7

2.2机械手的手部结构的确定方法··································7

2.3机械手的手臂结构的确定······································7

2.4机械手的驱动方案的确定·······································7

2.5机械手的控制方案的确定········································7

2.6机械手的参数确定··············································8

第3章机械手底座··················································9

3.1设计参数·······················································9

3.2方案设计······················································10

3.3液压马达的选择················································10

3.4回转支撑的选择················································11

3.5齿轮的强度校核················································13

3.6底座的方案确定·················································13

第4章机械手升降臂··············································15

4.1升降臂设计要求···············································15

4.1.1设计要求··················································15

4.1.2设计方案的选择·············································15

4.2液压缸的选择·················································15

4.3执行原