文档介绍：毕业设计
五自由度关节型机器人的结构设计及其仿真分析
摘要
机械手因其较高灵活性和通用性,在生活、制造等各个领域中都扮演着极其重要的角色。它可以搬运货物,分拣物品,并能够在在有害环境下操作以保护人身安全,代替人的繁重劳动,因此被广泛应用于机械制造、轻工以及需求物品搬运等各种场所。
本次设计的研究方向是五自由度关节型机器人的结构设计及其仿真分析,在确定了设计方案以后,就开始查阅机器人的相关资料,以便以后的设计能顺利进行。然后就是对机械手的几大部分进行了相关计算,确定了相关数据以后,二维的CAD、CAXA随即开了运行,而后就是到PRO/E的三维实体设计,机械手的各部分的实体模型也随之而出。最后进行的便是ADAMS的仿真,将需要的数据输入以后,机械手便可以根据要求运动,同时截取了一些重要的线性图,提高了本次设计的机械手的可行性、科学性。
关键词:机械手;结构;计算;数据;
Abstract
Because of its high flexible manipulators and universality, in life, in various fields such as plays a very important role. It can carry goods, articles, and can be sorted in harmful environment to protect personal safety operation, instead of heavy labor, therefore, are widely used in machinery manufacturing, light industry and the demand for handling items.
This design research direction is five dof joints of the robot structure design and simulation analysis, in determining the design plan later, began to refer to the related information, so as to make robots after design can be carried out smoothly. Then a few most of manipulator is carried on the related calculation, determine the relevant data later, two-dimensional CAD, CAXA immediately opened run, and then is to PRO/E, the three-dimensional design of the manipulator each part of entity model also subsequently and out. Finally the simulation is conducted, will need to ADAMS after the data input according to requirements, manipulator can exercise, meanwhile intercepting the some important linear figure, improve the design of the manipulator of practical, scientific
Keywords :Manipulator, formation,Calculation; data
目录
摘要 I
Abstract II
第一章绪论 1
机器人的概念 1
我国机器人研究现状 1
工业机器人概述 2
工业机器人研究的现状与意义 3
论文研究的主要内容 3
第2章五自由度机器人方案的设计 5
机器人机械设计的特点 5
与机器人有关的概念 5
设计方案 6
6
6
7
8
第3章五自由度机器人的结构设计 10
手爪结构设计 10
10
10
11
12
12
13
腕部回转关节的设计