机器人腕部结构设计项目说明书摘 要为了提高生产效率，满足一些特定的工作要求，本题设计的关节型机器人的手腕用于焊接、喷漆等方面。通过合理的设计计算，拟定了手腕的传动路径，选用直流电动机，合理布置了电机、轴和齿轮，设计了齿轮和轴的结构，实现了摆腕、转腕和提腕的三个自由度的要求。设计中大多采纳了标准件和常用件，降低了设计和制造成本。关键词：自由度，关节型机器人，手腕ABSRACTIn order to improve production efficiency and meet some of the specific requirements, design of ontology of robot wrist joints used for welding, paint, etc. Through the reasonable design calculation, the transmission path, choose the wrist, reasonable decorate a dc motor, gear axle and gear axle, design and realization of the structure, the pendulum wrist, turn the wrist and wrist three degrees of freedom. In the design of the standard and common people, the design and manufacturing cost.Keywords: freedom, Joint robot, The wrist目录1 绪论 ------------------------------------------------------1 选题背景及意义 ----------------------------------------------1 文献综述（国内外进展和讨论现状） ----------------------------2 机器人的现状与进展 ------------------------------------------32 手腕结构的确定 --------------------------------------------74 电机的选择------------------------------------------------8-------------------------------------------------------------8-------------------------------------------------------------85 总传动比的确定及传动比的分配-----------------------------9-------------------------------------------------------------9-------------------------------------------------------------96 齿轮设计-------------------------------------------------10------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------7 轴的设计与校核-------------------------------------------------------...
