串联型五自由度机械手的结构设计.doc

串联型五自由度机械手的结构设计 摘 要：随着科学技术的发展，人们的生活越来越趋于科技化。各种机械设备已经慢慢进入人们生活当中。同时，社会的各个领域，如农业、工业、建筑等也需要高科技机械设备来满足人们的需求，提高工作的效率，节省人们的体力劳动The Structure of the Series of Five Dof Manipulator Design Abstract：With the development of science and technology, people’ life tend to more scientific and technical. All kinds of mechanical equipment have gradually entered peoples life. At the same time, all areas of society, such as agriculture, industry, construction and so on, also in need of high-tech mechanical equipment to meet peoples needs, improve work efficiency, and saving peoples physical labor. This article mainly put fetching large heavy objects as a starting point, through the MATLAB software to calculate the arm length. By design the structure of the manipulator, in order to design the structure of four joints design (including the waist, arm, wrist, hand) and the five degrees of freedom. Five degrees of freedom refers to the rotational degree of freedom when the waist joints rotates around the rotating shaft , the moving degree of freedom when vertical arm joint lift on the vertical direction , the moving degree of freedom when cantilever joint is doing telescopic motion in horizontal direction, the rotational degree of freedom when the wrist joint rotates around the rotating shaft and the rotational degree of freedom when gripper joints is fetching weights by rotating around the fixed point ,which is in order to meet the requirement of work space and grasping of the manipulator.. Keywords: Robots, MATLAB, mechanical design, structure 目录 1 绪论 1 1.1本课题的意义 1 1.2国内外研究进展 1 1.2.1本课题的意义 1 1.2.2国内外研究进展 2 2.机械手总体方案的设计 3 2.1 机械手简介 3 2.2 机械手设计原则 3 2.3机械手设计技术参数 3 2.4 机械手形式 4 2.5机械手构型 5 2.5.1机械手组成部分 5 2.5.2机械手构型 5 3 运动学仿真分析 7 3.1 D-H 表示法 7 3.2 建立D-H 坐标系 9 3.3 正逆运动学问题分析 12 3.3.1 正运动学问题分析 12 3.3.2 逆运动学问题分析 14 3.4 工作空间的求解 20 4.机械手传动系统设计 21 4.1 机械手驱动系统设计 21 4.2 传动方案的比较 21 4.3各关节传动方案设计 22 4.3.1腰部关节传动方案设计 22 4.3.2臂部关节传动方案设计 23 4.3.3腕部关节传动方案设计 24 4.3.4手爪传动方案设计 24 4.4 机械手传动原理图 26 5.主要部件结构设计 27