文档介绍：图书分类号:
密级:
毕业设计(论文)
电控气动机械手设计
THE DESIGN OF AN ELECTRICAL CONTROL PNEUMATIC MANIPULAT
学生姓名
学院名称
专业名称
指导教师
20**年
5月
27日
摘要
科学发展观为我国工程技术的发展开辟了广阔道路,而机械手作为一种高科技自动化生产设备,已经广泛应用于国民经济的各个领域,这就对我们的教育培训部门提出了新的要求。因此,为了适应社会发展的形势,在现有技术基础上设计一台教学型机械手有着深远的科教意义。
本课题设计的教学型搬运机械手,主要包括机械手的总体方案设计、机械手的机械结构设计以及驱动、控制系统设计等,实现了机械手手部的四自由度运动:手臂的升降、伸缩和手腕、手臂的回转。设计中分析了教学型机械手的功能要求和现实意义,通过气压缸来实现手臂的升降和伸缩,采用回转气压缸来实现手腕和手臂的回转。设计的机械手结构简单、便于操作,在单片机的控制下完成预期的动作,能给学生以直观的印象,达到教学演示的目的。
关键词机械手;教学型;四自由度;单片机
Abstract
Scientific concept of development of engineering technology has opened up a broad road, while the robot as a high-tech automated production equipment, has been widely used in various fields of national economy, which the education and training sector of our proposed new requirements. Therefore, in order to adapt to the situation of social development, based on existing technology to design a teaching type robot science has far-reaching significance.
The subject of design for teaching handling robots, mainly consists of robot's overall design, robot mechanical structure design, as well as drive, control system design, implementation of the manipulator hands of four degrees of freedom: the arm movements, stretching and wrist, arm, rotary. The design of the teaching function of mechanical hand requirements and practical significance, achieved by pneumatic cylinders push the arm movements and stretching,rotary pneumatic cylinders used to achieve arm and wrist design simple, easy to operate, under the control of the MCU plete the desired action, giving the students a visual impression, to achieve the purpose of teaching demonstration.
Keywords Manipulator Teaching type Four Degrees of Freedom SCM
目录
1 绪论 1
机械手概述 1
机械手的组成和分类 1
机械手的组成 1
机械手的分类 4
国内外发展状况 5
6
6
教学用机械手的功能要求 6
教学用机械手的现实意义 7
2 机械手的设计方案 8
机械手的座标型式与自由度 8
机械手的坐标型式 8
机械手的自由度 9
机械手的手部结构方案设计 9
机械手的主要参数