文档介绍：项目:码跺机器人机械设计
目录
摘要 - 3 -
Abstract - 4 -
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码跺机器人构成介绍 - 18 -
3 码垛机器人整体设计 - 19 -
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小结 - 37 -
参考文献 - 38 -
摘要
码垛机器人作为现代码垛系统中最重要的设备,它的操作范围、码垛速度、稳定性等工作能力决定了整个码垛系统设计的成败。本文根据码垛系统的应用确定码垛机器人的工作空间范围、码垛能力等性能参数。
本论文中主要研究有四大部分内容:一、分析了常用码跺机器人的结构,综合优化后确定本码垛系统中机器人的机械设计结构;二、四坐标圆柱形机器人的机械结构设计及关键零部件的选型与设计:三、通过对直流伺服电机控制特性分析,应用PWM调速技术对直流伺服电动机调速,本文设计了转速电流双闭环电机调速系统及其参数;四、建立机器人三维模型,可在Simulink环境下对机器人机电系统控制性能进行仿真。
本文重点详述了研制的4自由度垂直关节型机器人的机构原理和结构设计,并对其运动学、运动解耦性及机构放大原理进行了分析。
关键词:四坐标圆柱形机器人;码垛系统;机器人设计;机械手
Abstract
Palletizing robot as modern palletizing system is the most important equipment, its operation scope, palletizing speed, the stability of the entire work ability decide the ess or failure of palletizing system design. According to the application of palletizing system to determine the scope of the working space of palletizing robot, palletizing ability performance parameters.
This thesis mainly studies have four most content: a, analyzes the robot structure used yards stomped, comprehensive optimization in determined after this palletizing system of mechanical design structure; robot Two, four cylindrical robot coordinate the mechanical structure design and ponents selection and design: three, through the dc servo motor control characteristic analysis, application technology of PWM speed dc servo motor speed control, this paper designed a speed the current double closed loop speed system and its parameters; motor Four, build robots in Simulink 3d model, under the environment of electromechanical sys