三自由度圆柱坐标机手毕业设计.doc

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 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执行原件主要参数的确定········································16 4.4升降臂的设计与计算············································18 4.5升降臂滑台设计···············································19 4.6撞快与形成开关的设计·········································20 第5章机械手伸缩臂··············