文档介绍：平面关节型机械手设计(含 CAD 图纸) - 1- 平面关节型机械手设计[ 摘要] 平面关节型机械手采用两个回转关节和一个移动关节;两个回转关节控制前后左右运动,而移动关节则实现上下运动,其工作空间如工作空间图,它的纵截面为矩形的回转体,纵截面高为移动关节的行程长,两回转关节转角的大小决定回转体截面的大小、形状。关键词: 机械手轴承汽缸[Abstract] pliance Assembly Robot Arm have two slew joints and one move joints , two slew joints control the moving of the front and back left and right . the move joints control the moving ofup and down . the work room as work room drawing . the vertical section isa rectangle slew . the high of the vertical section is move joints ’ journey ,the move angle of the two slew joints decide the big and small and figure of the vertical section . Key words: manipulator axletree cylinder 平面关节型机械手设计(含 CAD 图纸) - 2- 目录目录................................................................................................................................ 2 设计要求........................................................................................................................ 3 第1章机械手总体设计.............................................................................................. 4 主要技术参数.................................................................................................. 4 结构特点.......................................................................................................... 4 第2章手指设计.......................................................................................................... 6 设计时要注意的问题..................................................................................... 6 零件的计算..................................................................................................... 6 第3章移动关节的设计计算...................................................................................... 9 驱动方式的比较.............................................................................................. 9 汽缸的设计...................................................................................................... 9 第4章小臂的设计..............................................................