文档介绍：摘要Ⅰ摘要由于目前使用的油漆大多含有苯,笨是一种极易挥发,并且能致癌的化学物质。在没有任何防护的情况下进行喷漆作业对工人的危害极大的,因此各种各样的喷漆机器人应运而生。本文设计了一种关节式喷漆机器人,具有六个自由度,其中手腕关节具有三个自由度,其它的关节各具有一个自由度,各个关节采用液压驱动。本文设计的喷漆机器人采用了类似于铰链四杆机构的结构形式。驱动小臂运动的电机安装在腰部回转盘的上面,通过带动铰链四杆机构间接驱动小臂实现俯仰运动,这样避免了把液压缸直接安装在大臂和小臂的连接处,从而减小了小臂自身的重量,同时减小了驱动大臂和腰关节的液压缸所需要的功率与力矩,这种铰链四杆机构还使小臂实现自身的重力平衡从而减小了静力矩。喷漆机器人的主体采用了铝合金材料,减轻了自身的重量。喷漆机器人的整体动态性能也因此提高。关键词:喷漆机器人;关节式;结构设计燕山大学本科生毕业设计 Abstract Nowadays most paint contains benzene . The benzene is very volatile , toxic and carcinogenic . It does harm to the workers heavily when the protection is absent . So different kinds of painting robots appeared and developed greatly . A joint type painting robot was designed in this paper . It had six degrees of freedom . The wrist had three degrees of freedom and the other joints had three degrees of freedom . The painting robot ’s joints were driven by hydraulic pressure . Parallelogram structure was used in the robot . The hydraulic cylinder which was installed on the waist turning table droved the forearm indirectly through the parallelogram structure . The structure avoided installing the hydraulic cylinder directly on the joint to reduce the forearm ’s weight . So the burden of the hydraulic cylinder which drive the upper arm and the waist were reduced . Also this structure made the forearm realize balance itself and reduce the static torque . Aluminum alloy was used greatly in the robot , so the weight of the robot was reduced . Also the dynamic performance was improved . Keywords : painting robot ; joint ; structure design 目录 2 目录摘要.......................................................................................................... I ABSTRACT .................................................................................................... II 目录........................................................................................................... III 第一章绪论............................................................................................... 1 课题研究