机器人腕部结构设计说明书教程.doc
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关节型机器人腕部结构及控制系统设计
摘 要
为了提高生产效率,满足一些特定的工作要求,本题设计的关节型机器人的手腕用于焊接、喷漆等方面。通过合理的设计计算,拟定了手腕的传动路径,选用直流电动机,合理布置了电机、轴和齿轮,设计了齿轮和轴的结构,实现了摆腕、转腕和提腕的三个自由度的要求。设计中大多采用了标准件和常用件,降低了设计和制造成本。
关键词:自由度,关节型机器人,手腕
ABSRACT
In order to improve production efficiency and meet some of the specific requirements, design of ontology of robot wrist joints used for welding, paint, etc. Through the reasonable design calculation, the transmission path, choose the wrist, reasonable decorate a dc motor, gear axle and gear axle, design and realization of the structure, the pendulum wrist, turn the wrist and wrist three degrees of freedom. In the design of the standard and common people, the design and manufacturing cost.
Keywords: freedom, Joint robot, The wrist
目录
TOC \o 1-2 \h \z \u
HYPERLINK \l _Toc262051396 1 绪论 PAGEREF _Toc262051396 \h 1
HYPERLINK \l _Toc262051397 1.1 选题背景及意义 PAGEREF _Toc262051397 \h 1
HYPERLINK \l _Toc262051407 1.2 文献综述(国内外发展和研究现状) PAGEREF _Toc262051407 \h 2
HYPERLINK \l _Toc262051424 1.3 机器人的现状与发展 PAGEREF _Toc262051424 \h 3
HYPERLINK \l _Toc262051457 2手腕结构的确定 PAGEREF _Toc262051457 \h 7
3.基本参数的确定
HYPERLINK \l _Toc262051459 4电机的选择 PAGEREF _Toc262051459 \h 8
HYPERLINK \l _Toc262051460 3.1提腕电机的选择 PAGEREF _Toc262051460 \h 8
HYPERLINK \l _Toc262051461 3.2摆腕和转腕电机的选择 PAGEREF _Toc262051461 \h 8
HYPERLINK \l _Toc262051462 5总传动比的确定及传动比的分配 PAGEREF _Toc262051462 \h 9
HYPERLINK \l _Toc262051463 4.1各级传动比的计算 PAGEREF _Toc262051463 \h 9
HYPERLINK \l _Toc262051466 4.2传动比的分配 PAGEREF _Toc262051466 \h 9
HYPERLINK \l _Toc262051467 6齿轮设计 PAGEREF _Toc262051467 \h 10
HYPERLINK \l _Toc262051468 5.1偏转部分齿轮设计
HYPERLINK \l _Toc262051478 5.2摆腕部分齿轮设计
HYPERLINK \l _Toc262051480 5.3转腕部分齿轮设计
HYPERLINK \l _Toc262051481 7轴的设计与校核
HYPERLINK \l _Toc262051482 6.1轴的结构设计
HYPERLINK \l _Toc262051484 6.2轴的校核计算
HYPERLINK \l _Toc262051486 8控制系统设计
HYPERLINK \l _Toc262051487 7.1控制方法的确定
HYPE
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