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多用途气动机器人结构设计

更新日期:2010-12-14 | 来源:可好网 | 热门量:247
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设计描述:
目 录


第一章 引言
1.1机械手概述............................................... ..............1 
1.2气动机械手的设计要求````````````````````````````````````````````````````2
1.3机械手的系统工作原理及组成............................................  2
第二章 机械手的整体设计方案
2.1机械手的座标型式与自由度 ```````````````````````````````````````````````6
2.2机械手的手部结构方案设计 ```````````````````````````````````````````````7
2.3机械手的手腕结构方案设计````````````````````````````````````````````````7
2.4机械手的手臂结构方案设计````````````````````````````````````````````````7
2.5机械手的驱动方案设计````````````````````````````````````````````````````7
2.6机械手的控制方案设计````````````````````````````````````````````````````8
2.7机械手的主要技术参数````````````````````````````````````````````````````8
第三章 手部结构设计
3.1夹持式手部结构``````````````````````````````````````````````````````````10
3.1.1手指的形状和分类``````````````````````````````````````````````````````10
3.1.2设计时考虑的几个问题 `````````````````````````````````````````````````11
3.1.3手部夹紧气缸的设计````````````````````````````````````````````````````12
第四章 手腕结构设计````````````````````````````````````````````````````````14
4.1手腕的自由度````````````````````````````````````````````````````````````14
4.2手腕的驱动力矩的计算````````````````````````````````````````````````````14
4.2.1手腕转动时所需的驱动力矩 `````````````````````````````````````````````15
4.2.2回转气缸的驱动力矩计算 ```````````````````````````````````````````````16
4.2.3回转气缸的驱动力矩计算校核````````````````````````````````````````````17
第五章 手臂伸缩,升降,回转气缸的设计与校核````````````````````````````````20
5.1手臂伸缩部分尺寸设计与校核``````````````````````````````````````````````20
5.1.1尺寸设计``````````````````````````````````````````````````````````````21
5.1.2尺寸校核``````````````````````````````````````````````````````````````21
5 .1 .3导向装置 ```````````````````````````````````````````````````````````23`
5 .1 .4平衡装置````````````````````````````````````````````````````````````23
5.2手臂升降部分尺寸设计与校核``````````````````````````````````````````````24
5.2.1尺寸设计 `````````````````````````````````````````````````````````````24
5.2.2尺寸校核 `````````````````````````````````````````````````````````````24
5.3手臂回转部分尺寸设计与校核``````````````````````````````````````````````26
5.3.1尺寸设计 `````````````````````````````````````````````````````````````27
5.3.2尺寸校核``````````````````````````````````````````````````````````````27
第六章 气动系统设计````````````````````````````````````````````````````````28
6.1气压传动系统工作原理图及元器件的选择````````````````````````````````````28
第七章 机械手的PLC控制系统设计 ````````````````````````````````````````````29
7.1可编程序控制器的选择及工作过程``````````````````````````````````````````29
7.1.1可编程序控制器的选择 `````````````````````````````````````````````````29
7.1.2可编程序控制器的工作过程``````````````````````````````````````````````30
7.2可编程序控制器的使用步骤````````````````````````````````````````````````31
7.3机械手可编程序控制器控制方案````````````````````````````````````````````32
7.3.1控制系统的工作原理及控制要求``````````````````````````````````````````33
7.3.2 气动机械手的工作流程`````````````````````````````````````````````````34
7.3.3 I/0分配``````````````````````````````````````````````````````````````34
7.3.4梯形图设计````````````````````````````````````````````````````````````35
第八章 结论````````````````````````````````````````````````````````````````36
致谢```````````````````````````````````````````````````````````````````````37
参考文献```````````````````````````````````````````````````````````````````38

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