文档介绍：中国地质大学长城学院
本科毕业设计
题目直角坐标系机械手的设计
系别工程技术系
学生姓名安策
专业机械设计制造及其自动化
学号 05211609
指导教师杨运强
职称教授
2015年 4 月 5 日
摘要
在工业上,自动控制系统有着广泛的应用,如工业自动化机床控制、计算机系统、机器人等。
工业机械手能模仿人手臂和手的某些动作,能搬运,抓取物体或操作工具,机械手主要是由手部和运动机构所组成。按照物件尺寸、形状、材料、重量和作业环境等要求不同,手部有几种结构形式,托持型,吸附型和夹持型等。运动机构的功能是使手部完成各种动作:移动、转动等运动来实现规定的动作。机构的伸缩、升降和旋转等运动方式,称为机械手的自由度。本设计选用直角坐标型机械手,有三个自由度,是通过滚珠丝杠来实现小臂与大臂的伸缩,升降。这些动作主要是通过步进电机的带动,通过控制器的控制,将工件从一个坐标抓取并运送到另一坐标完成预定动作。
本论文主要对机械手的传动部分中的滚珠丝杠与步进电机进行了计算,计算内容主要包括机械手的传动机构的设计,以及其机械传动装置的选择。对于控制部分的设计主要包括单片机的控制的方案,接线的原理图以及程序流程图等。
关键词:三自由度; 直角坐标; 机械手; 滚珠丝杠; 进步电机
ABSTRACT
Industrially, automatic control systems have a wide range of applications, such as automation machine tool control, computer systems, robotics. The industrial robot is a relatively new machinery and electronic equipment in the modern industry, it is playing a more and moreimportant role.
Fully automated industrial machinery hand can imitate hand and arm some action function, with fixed procedures handling, grasping an object or operation tool for automatic operation device, the manipulator is posed of a hand and the movement mechanism. According to the transporting or catch to object shape, size, weight, materials and working environment of the different requirements, hand there are several structure forms, adsorption, supporting and clamping type. Motion mechanism is the function of the hand plete a variety of actions: moving, rotating movement to achieve the required action. Body stretching, lifting and rotating movement, known as the degrees of freedom manipulator. The design of three degree of freedom industrial robot in Cartesian coordinate type, which posed of four linear direction, through ball screw to realize small arm and the arm stretching, lifting. These movements are all based on the stepper motor driven by. Under the action of the controller, it will perform a workpiece from one production line to crawl and transported to another line of this simple action.
This paper focuses on the manipulator