喷漆机器人结构设计.docxVIP

喷漆机器人结构设计 喷漆机器人结构设计 学 号___________ 密 级___________ 喷漆机器人结构设计 Construction Design of Painting Robot 学生姓名 ：xx 所在学院 ：xxxxxxxx 所在专业 ：xxxxxxxxxxxxxx 指导教师 ：xxxxxxxxxxxxxx 职 称 ：xxxxxxxxx 所在单位 ：xxxxxxxxxxxxxx 论文提交日期 ：xxxx年x月xx日 论文答辩日期 ：xxxx年x月xx日 学位授予单位 ：xxxxxxxxxxxxxxx 由于目前使用的油漆大多含有苯，笨是一种极易挥发，并且能致癌的化学物质。在没有任何防护的情况下进行喷漆作业对工人的危害极大的，因此各种各样的喷漆机器人应运而生。 本文设计了一种关节式喷漆机器人，具有六个自由度，其中手腕关节具有三个自由度，其它的关节各具有一个自由度，各个关节采用电机驱动。 本文设计的喷漆机器人采用了类似于铰链四杆机构的结构形式。驱动小臂运动的电机安装在腰部回转盘的上面，通过带动铰链四杆机构间接驱动小臂实现俯仰运动，这样避免了把电机直接安装在大臂和小臂的连接处，从而减小了小臂自身的重量，同时减小了驱动大臂和腰关节的电机所需要的功率与力矩，这种铰链四杆机构还使小臂实现自身的重力平衡从而减小了静力矩。喷漆机器人的主体采用了铝合金材料，减轻了自身的重量。喷漆机器人的整体动态性能也因此提高。 关键词：喷漆机器人；关节式；结构设计 Abstract Nowadays most paint contains benzene．The benzene is very volatile，toxic and carcinogenic．It does harm to the workers heavily when the protection is absent．So different kinds of painting robots appeared and developed greatly． A joint type painting robot was designed in this paper．It had six degrees of freedom．The wrist had three degrees of freedom and the other joints had three degrees of freedom．The painting robot’s joints were driven by motors． Parallelogram structure was used in the robot．The motor which was installed on the waist turning table droved the forearm indirectly through the parallelogram structure．The structure avoided installing the motor directly on the joint to reduce the forearm’s weight．So the burden of the motors which drive the upper arm and the waist were reduced．Also this structure made the forearm realize balance itself and reduce the static torque．Aluminum alloy was used greatly in the robot，so the weight of the robot was reduced．Also the dynamic performance was improved． Keywords：painting robot；joint；structure design 摘 要 .................................................................................................................. I ABSTRACT ....................................................................