目录摘要..................................................................................................................................................3第一章绪论.....................................................................................................................................51.1研究的目的与意义.............................................................................................................51.2国内外在该方面的研究现状.............................................................................................61.2.1国外研究现状..................................................................................................................61.2.2国内研究现状..................................................................................................................71.3主要内容.............................................................................................................................81.4设计采摘机械手的要求.....................................................................................................8第二章切割装置的设计.................................................................................................................82.1采摘方式的选择.................................................................................................................82.2切割装置的结构设计.........................................................................................................92.2.1切割刀片的设计..............................................................................................................92.2.2驱动方式的选择............................................................................................................112.2.3切割装置的受力分析....................................................................................................112.2.4气压缸与基本参数的确定............................................................................................122.4切割装置的固定与定位...................................................................................................152.4.1切割装置的定位............................................................................................................152.4.2切割装置的固定............................................................................................................162.5本章小结...........................................................................................................................17第3章软体手指密封与连接固定结构设计................................................................................173.1密封元件设计...................................................................................................................173.1.1密封的目的与作用........................................................................................................173.1.2密封的类型....................................................................................................................183.1.3密封件的材料................................................................................................................193.2.1抓取方式的选择............................................................................................................203.2.2抓盘的设计...........................................................
