文档介绍：充值下载即送 CAD 图纸, QQ 36396305 1 摘要本说明书所设计的关节型机械手应用圆柱坐标式整体机构,能够实现夹取、安放、搬运棒形工件等功能。这个机械手主要由手爪、手腕、手臂、腰部和机座等部分组成,主要的活动功能体现在整个机械手的四个自由度以及手爪的闭合。其中四个自由度包括腰部的回转,腰部的升降,手臂的伸缩,手腕部的回转。这个机械手的整体规模一般,适用于小巧型工业零件的抓取和搬运,如电子加工业等。该机械手主要就是靠液压缸的油压变化来实现 4 个自由度和手爪的夹取。在油路的布置和规划中应用了液压传动的原理以及机械制造的原理,使得油路能够更加的符合机械设计过程中的合理性和可靠性,安全性和经济性。充分利用好机构的相互配合关系,合理布置零件间的空间结构,使本设计更加的合理完善。关键字:关节型机械手圆柱坐标液压缸四自由度充值下载即送 CAD 图纸, QQ 36396305 2 Abstract This explanation is designed articulated robot application type cylindrical coordinates anization, to achieve gripping, put the rod work piece handling functions. The robot gripper mainly by the wrists, arms, waist and base and ponents, the main event features embodied in the entire four degrees of freedom and the robot gripper closure. Four degrees of freedom, including rotation, waist lifting, telescopic arm, wrist rotation of the waist. The overall size of the robot is generally suitable pact industrial parts crawl and handling, such as electronic processing industry. The robot is mainly by hydraulic cylinders to achieve change gripping four degrees of freedom and a gripper. In the oil circuit layout and planning of the application of the principles and the principles of hydraulic transmission machinery manufacturing, making the oil to be more in line with the mechanical design process rationality and reliability, safety and economy. Take full advantage ofa good relationship with each other agencies, rational arrangement of space between the ponents, making the design more reasonable and perfect. Keywords: articulated manipulator cylindrical coordinates cylinder four degrees of freedom 充值下载即送 CAD 图纸, QQ 36396305 3 目录摘要.................................................................................................................................................... 2 目录........................................................................................................................................................ 4 研究目的.......................................