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机械毕业设计三自由度气动机械手的总体机构设计
本科毕业设计说明书
题 目：带水平旋转的三自由度气
动机械手的机构设计
院 （部）： 机电工程学院
专 业： 机械工程与自动化
班 级：
姓 名：
学 号：
指导教师：
完成日期：
目 录
TOC \o 1-3 \h \z \u 摘 要··································································Ⅲ
ABSTRACT····························································Ⅳ
1 前 言
1.1机械手发展状况························································1
1.2气动技术的优点及发展趋势··············································2
1.3现有气动机械手的形式及应用············································3
1.4本设计的意义及目的····················································3
2 本机械手的技术指标和总体方案
2.1 本机械手的技术指标····················································5
2.2 机械手的总体结构设计··················································6
2.2.1 机械手结构方案设计·················································6
2.2.2 机械手的驱动方案设计···············································7
2.2.3 机械手的控制系统设计···············································7
2.3 小结··································································7
3 机械手手爪的设计
3.1 手爪的种类及设计注意事项··············································8
3.2 手爪的抓取功能和手指尺寸计算··········································9
3.3夹紧气缸的选用·······················································13
3.4手爪联接件的设计·····················································18
4 机械手手臂的设计
4.1 手臂设计要求························································19
4.2 机械手手臂的结构设计·················································19
4.3 升降气缸的选用·······················································22
4.4 横移气缸的选用······················································24
4.5垂直手臂联接件的设计·················································25
4.6 回转机构的设计·······················································26
4.7立柱结构及底座的设计·················································31
5 机械手的气路设计
5.1气压传动的设计要求···················································33
5.2气压传动系统的组成···················································33
5.3本机械手的气路设计···················································33 6 结论·································································35
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