臂部采用连杆机构的工业机械手设计.doc

臂部采用连杆机构的工业机械手设计 学 院（部）： 专 业： 学 生 姓 名： 班 级： 学号 指导教师姓名： 职称 最终评定成绩 年 月摘 要 本设计为了满足设计任务书的有关要求，设计开发了臂部采用连杆机构的工业机械手。论文对机械传动系统及液压缸的关键技术进行了分析。 文中介绍了工业机械手的历史与现状，分析和比较了工业机械手的各种传动方式及其优缺点，探讨了工业机械手的发展方向与趋势和臂部采用连杆驱动的工业机械手的可行性与实用性。其中，根据外界负载及各种条件计算并确定出了液压驱动系统中液压缸的各种参数，并对一些关键零件进行了强度校核。在实际计算说明过程中，根据给定的位置要求运用作图法对曲柄连杆中各连杆长度进行了精确的计算，并讨论了曲柄连杆机构与机械手运动轨迹的关系。同时，为提高设备整体的性能，对机械传动单元中重要部件的机械性能进行了计算，并采用作图法求出了臂部各连杆的长度，最后运用材料力学的分析方法对连接所采用部件的强度、刚度、稳定性进行了分析，保证了设备的总体精度，提高了设备的实用性，得到了比较理想的结果。 通过上述方法和措施，完成了臂部采用连杆机构的工业机械手的设计。 In order to satisfy the requirements of design of the mandate, arm of the use of linkage of industrial machinery hand were designed and developmented in this paper. Papers on the mechanical drive system and hydraulic cylinders of key technologies were analyzed. In this paper, the development of history and current situation of industrial machinery hand were described, the various industrial machinery hand drive and their advantages and disadvantages were analysed and compared , the direction of development and trends of industrial machinery hands and the feasibility and practicality of a link-driven industrial machinery hand were discussed. Also, in accordance with the outside world load conditions and terms ,we determined the various parameters of hydraulic cylinders in a hydraulic drive system, and checked the strength of some key components . In practical terms that the process of calculation help, according to the given location of request we use mapping to calculate accurately the length of the connecting rod in the crank link and discussed the relationship of the crank linkage and the mechanical hand trajectory. At the same time, to improve the overall performance of equipment, the important components in mechanical transmission unit and the mechanical properties were calculated, we done a precise calculation