多自由度直角坐标型码垛机器人本体结构设计Body structure design of rectangular coordinate palletizing robot with the multi-degree freedom学生姓名学号所在学院班级所在专业机械设计制造及其自动化申请学位学士指导老师职称副 指 导 老师职称答辩时间目 录设计总说明................................................................IINTRODUCTION.............................................................II1 绪论....................................................................1 码垛机器人的进展状况..................................................1 讨论目的及意义........................................................12 课题内容及要求..........................................................22．1 讨论目标、内容及拟解决的关键问题..................................2 参数要求..............................................................33 总体机构设计............................................................3 机械抓手设计..........................................................6 方案选择..........................................................6 力学分析..........................................................7 气缸选择..........................................................9 丝杆螺母副的计算与选型................................................9 Z 轴滚珠丝杠螺母副的计算与选型.....................................9 x 轴和 y 轴滚珠丝杠螺母副的计算与选型..............................12 各轴驱动电机选型.....................................................12 Z 旋转轴电机的选择................................................13 Z 轴步进电机的计算与选型..........................................15 x 轴和 y 轴步进电机的选用..........................................17 直线滚动导轨副的计算与选型...........................................18 轴承的选用...........................................................20 Z 旋转轴轴承的选用................................................20 Z 轴滚珠丝杠下端单向推力球轴承的计算与选型.......................
