機(jī)械設(shè)計(jì)專業(yè)相關(guān)的畢業(yè)設(shè)計(jì)論文，里面有詳細(xì)的圖紙，ppt,說(shuō)明書(shū)，外文翻譯。

三自由度機(jī)械手機(jī)械傳動(dòng)部分設(shè)計(jì)

[摘要]目前，我國(guó)部分企業(yè)在產(chǎn)品生產(chǎn)和加工時(shí)仍然用人力進(jìn)行工件的移動(dòng)和定位，一定程度上出現(xiàn)了工作強(qiáng)度大、安全性差、操作靈活性差、定位精度低等問(wèn)題，嚴(yán)重影響了產(chǎn)品的質(zhì)量和生產(chǎn)效益。隨著科學(xué)技術(shù)的發(fā)展和自動(dòng)化生產(chǎn)線在企業(yè)產(chǎn)品生產(chǎn)中的廣泛應(yīng)用，機(jī)械手作為自動(dòng)化生產(chǎn)線的重要組成部分也得到了長(zhǎng)足的發(fā)展和進(jìn)步。尤其是隨著機(jī)械結(jié)構(gòu)的優(yōu)化，氣動(dòng)、液壓技術(shù)的成熟，控制元件的發(fā)展和控制方式的不斷改進(jìn)和創(chuàng)新，機(jī)械手的動(dòng)作精確性、控制靈活性和工作可靠性得到了明顯的改善。機(jī)械手的出現(xiàn)在減輕工人勞動(dòng)強(qiáng)度和難度、提高工作效率和質(zhì)量、降低生產(chǎn)成本上做出了突出貢獻(xiàn)，機(jī)械手的發(fā)展在企業(yè)的發(fā)展和創(chuàng)收上起到了舉足輕重的作用。
本文簡(jiǎn)單介紹了本課題的來(lái)源、意義和內(nèi)容，回顧了國(guó)內(nèi)外機(jī)械手的發(fā)展概況，介紹了目前機(jī)器人的幾種分類形式，列出了在生產(chǎn)、生活上和高科技領(lǐng)域中幾種常見(jiàn)的機(jī)器人。本機(jī)械手的主要工作是在控制器的作用下將工件從一條流水線搬運(yùn)到另一條流水線這一簡(jiǎn)單的動(dòng)作，通過(guò)綜合考慮選擇了三自由度圓柱坐標(biāo)型機(jī)械手，其工作方向?yàn)閮蓚€(gè)直線方向和一個(gè)旋轉(zhuǎn)方向，結(jié)構(gòu)簡(jiǎn)單，成本低，而且針對(duì)不同類型的零件增加了一個(gè)手爪，減少了閑置率，提高了工作效率。本文對(duì)機(jī)械手的機(jī)械傳動(dòng)部分進(jìn)行了設(shè)計(jì)，簡(jiǎn)單地進(jìn)行了機(jī)械手的運(yùn)動(dòng)分析，對(duì)驅(qū)動(dòng)、傳動(dòng)系統(tǒng)進(jìn)行了方案設(shè)計(jì)并進(jìn)行了液壓缸、絲杠、等主要部件的選取和校核。最后用AutoCAD、SolidWorks等繪制相關(guān)工程圖。
關(guān)鍵詞：三自由度；機(jī)械手；絲杠；液壓技術(shù)。
 
DesignofThree Degrees of Freedom Manipulator Mechanical Transmission Parts

[Abstract]Presently, part of our Chinese corporations are still using the manpower to make themotion and orientation of work pieces in production and manufacture of the products, in partresulting in the problems such as the heavy working intensity, weak safety, poor flexibility ofmanipulation, low precision of orientation, and so on, which affect seriously the quality of theproducts and the benefit of the production. With the development of the science andtechnology and the application of the automobile product line in the production, themanipulator, who serves as the important part of the automobile product line, has alsoexperienced dramatic progress and development. Especially with the improvement of thestructure of the machine, the maturity of pneumatics and hydraulics, and the constantimprovement of the control element , and the ceaselessly ameliorative and innovative control mode, the precision, delicacy andreliability of the manipulator has been improved expressly, which contributed to alleviatingthe worker’s labor intensity and difficulty, boosting the working efficiency and quality,reducing cost, as to play an extremely important part in the development and income of thecorporations.
The article introduces the resource, content and practical application value of the thesis, and reviews the development of robots inside and abroad, and introduces the sort ofrobots, and enumerates several hackneyed robots in manufacture, life and high-tech. The main work of the manipulator is that put the work-piece from a line to another line the simple action under the function of the controller. Through the comprehensive consider choose three degrees of freedom cylindrical coordinates type manipulator, Its work two straight line direction and a rotating direction, simple structure, low cost and according to different types of part add a paw, reducing the unemployment, improving the working efficiency. The article main design the mechanical transmission parts of the manipulator, the writer analyses the kinematics of the manipulator, designs the project of driving system and transmission system, selects and checks hydraulic cylinder thread-bar, and so on.The lastdraw the relevant drawings in AutoCAD, SolidWorks, etc.
Keywords：Three degrees of freedom;Manipulator;Thread-bar;Hydraulic technology.

 
 
目錄
摘要 I
ABSTRACT II
目錄 I
第一章緒論 1
§1.1工業(yè)機(jī)械手的簡(jiǎn)史 1
§1.2課題提出的依據(jù)和意義 2
§1.3 國(guó)內(nèi)外機(jī)械手研究現(xiàn)狀及發(fā)展趨勢(shì) 3
§1.4課題研究目標(biāo)、研究?jī)?nèi)容和方案 3
§1.5 本章小結(jié) 4
第二章物料搬運(yùn)機(jī)械手總體設(shè)計(jì) 5
§2.1機(jī)械手的組成及各部分關(guān)系概述 5
2.1.1 執(zhí)行系統(tǒng) 5
2.1.2 驅(qū)動(dòng)系統(tǒng) 6
2.1.3 控制系統(tǒng) 6
2.1.4 檢測(cè)系統(tǒng) 6
§2.2 機(jī)械手的設(shè)計(jì)分析 7
2.2.1 設(shè)計(jì)要求 7
§2.3 總體方案擬定 8
2.3.1 機(jī)械手基本形式的選擇 8
2.3.2 機(jī)械手的主要部件及運(yùn)動(dòng) 8
2.3.3 驅(qū)動(dòng)機(jī)構(gòu)的選擇 9
2.3.4 機(jī)械手的動(dòng)作過(guò)程及時(shí)間分配 9
§2.4 機(jī)械手的技術(shù)參數(shù)列表 10
§2.5本章小結(jié) 11
第三章機(jī)械手的手部設(shè)計(jì)計(jì)算 12
§3.1 手部設(shè)計(jì)計(jì)算要求 12
§3.2 典型的手部機(jī)構(gòu) 12
§3.3 總體結(jié)構(gòu)設(shè)計(jì) 12
3.3.1 油缸的選擇及夾緊力的校驗(yàn) 13
3.3.2 彈性爪的強(qiáng)度校驗(yàn) 15
3.3.3 另一種手部的設(shè)計(jì) 15
3.3.4 夾緊力及驅(qū)動(dòng)力的計(jì)算 17
3.3.5 手爪夾持范圍計(jì)算 18
§3.4 手臂機(jī)構(gòu)的設(shè)計(jì) 19
3.4.1 手臂設(shè)計(jì)要求 19
3.4.2 伸縮液壓缸的選擇 19
3.4.3 活塞桿的強(qiáng)度校核 19
§3.5 腰部和基座的設(shè)計(jì) 20
3.5.1 步進(jìn)電機(jī)的選擇 21
3.5.2 軸承的選擇 23
3.5.3 滾珠絲杠的選擇 23
3.5.4  諧波齒輪的選擇 25
3.5.5 聯(lián)軸器的選擇 25
§3.6 本章小結(jié) 26
第四章總結(jié)與展望 27
參考文獻(xiàn) 28
致謝 29