圆柱坐标式三自由度机械手毕业设计论文.doc

河南科技大学毕业设计（论文） PAGE 圆柱坐标式三自由度机械手 摘 要 机器人不仅是一种自动化的机器。机器人是一种可重新编程的、多功能的、机械手,为实现各种任务设计成通过可改变的程序动作来移动材料、零部件、工具或是其他专用装置。 本设计设计的是一种圆柱坐标式机械手,该装置具有三个独立运动(两个直线运动、一个旋转运动)，也就是所说的三个自由度。该机构中立柱可相对于机座旋转180度，回转速度15r/min，可水平伸缩距离400，移动速度约0.2/s，机械手可上下垂直运动，其垂直升降量1000，移动速度约0.15/s，机械手最大夹持重量10，所夹持工件为圆柱形，直径范围：Ф30—Ф120。 根据课题要求经过认真思考和请教指导老师，本设计的旋转运动采用摆动液压马达（旋转液压缸）驱动，水平伸缩运动采用液压缸驱动，垂直升降运动仍采用液压缸驱动。 关键词：三自由度，圆柱坐标式，工业机器人，机械手  CYLINDRICAL COORDINATE ROBOT OF THREE DEGREES OF FREEDOM ABSTRACT A robot is not simply another automated machine. A robot is a reprogrammable multifunctional manipulator designed to move material, parts, tool, or specialized devices through variable programmed motions for the performance of a variety of task. This design is a cylindrical coordinate manipulator, the device has three separate campaigns (two straight-line movement, a rotating Movement), that is to say that the device has three degrees of freedom. The bodies of the column can be compared to frame 180-degree rotation, with the rotation speed 15 r / min. The manipulator may be stretching from the level of 400mm, with the moving speed about 0.2 m/ s. From the top to the bottom, the manipulator can do vertical movement and its vertical take-off and landing is 1000mm, with the moving speed about 0.15 m/ s. The largest weight that the device grip can lead to 10kg.The workpiece with the diameter from 30mm to 120mm that the device can grip is cylindrical. According to the issue demands ,besides, careful thinking and ask the teacher, the rotating movements of the design opts rotating hydraulic motor (rotating cylinder) , the level of stretching movements are driven by hydraulic cylinders, vertical take-off and landing movements are still driven by hydraulic cylinders. KEY WORDS：Three degrees of freedom, Cylindrical，Industrial robot, Manipulator 目 录 TOC \o 1-3 \h \z HYPERLINK \l _Toc201937675 前 言 PAGEREF _Toc201937675 \h 1 HYPERLINK \l _Toc201937676 第1章 概述 PAGERE