摘要机械手,顾名思义,机械原件做成的像人手一样的器械,可替代人手完成一些大量重复、复杂、危险的工作。机器手是由机械与电子相互结合产生的产品。使用机械手的目的有以下几点:劳动生产率得到提升,使加工过程更先进,更高效,减轻人们劳动负担,改善人们的劳动环境等等。按照要求可以进行自动化技术装备。机械手可以代替手工进行工作,降低劳动消耗程度,改进在工作中所需的物质设备条件,提升单位时间制作产品的数量。经常在工业生产中出现的频繁工件无法用手工来解决的困难时,那么机械手就可以完美替代人手进行工业生产劳动;而且,机械手的工作环境相当广泛,可以在高低温、放射性等有毒污染环境下工作,占据相当大的优势,所以机械手在工厂运作中占据着不可替代的作用。本次课程设计基于机械设计原理,在了解了四自由度关节型机械手的基本信息后,介绍了其使用范围,按照设计原理和步骤设计了一台有着四自由度的关节型机械手。机械手的发明极大地改善了工人的工作环境,简化了工人的工作内容,提高整体的生产劳动效率,是人类生产活动中有利的帮手。本论文运用了机械手工作原理和设计、四自由度设计等各方面的专业知识,在设计四自由度的关节型机械手的过程中,结合已有的知识解决过程中的难题,并进行深入探讨,如何在已有的基础上融入自己的创意和想法,使机械手设计得更为简洁,实用性更强。关键词:关节型机械手,机械设计,四自由度ABSTRACTThemanipulator,asthenameimplies,isahuman-likedevicemadeofmechanicaloriginals,whichcanreplacealotofrepetitive,complicatedanddangerouswork.Therobotisaproductproducedbythecombinationofmachineryandelectronics.Thepurposeofusingtherobotisasfollows:thelaborproductivityisimproved,theprocessingprocessismoreadvanced,moreefficient,thelaborburdenisreduced,theworkingenvironmentisimproved,andthelike.Automatedtechnicalequipmentisavailableuponrequest.Therobotcanreplacethemanualwork,reducethelaborconsumption,improvethephysicalandequipmentconditionsrequiredinthework,andincreasethenumberofproductsproducedperunittime.Whenthefrequentoccurrenceoffrequentworkpiecesinindustrialproductioncannotbesolvedbyhand,itisthemosteffectivewaytousetherobotatthistime;moreover,therobotcanworkunderhighandlowtemperature,radioactiveandothertoxicpollutionenvironments,occupyingconsiderableadvantages.Therefore,therobotplaysanirreplaceableroleintheoperationofthefactory.Thiscoursedesignisbasedonthemechanicaldesignprinciple.Afterunderstandingthebasicinformationofthefour-degree-of-freedomarticulatedmanipulator,thescopeofitsuseisintroduced.Anarticulatedmanipulatorwithfourdegreesoffreedomisdesignedaccordingtothedesignprinciplesandsteps.Theinventionoftherobotgreatlyimprovedtheworkingenvironmentoftheworkers,simplifiedtheworkcontentoftheworkers,andimprovedtheoverallproductionlaborefficiency,whichisafavorablehelperinhumanproductionactivities.Thisthesisusestheprofessionalknowledgeoftheworkingprinciple,andin-depthdiscussion,Howtointegrateyourownideasandideasontheexistingbasis,sothattherobotisdesignedtobemoreconciseandpractical.KeyWords:Articulatedmanipulator;MechanicalDesign;Fourdegreesoffreedom目录1绪论............................................................................................................................11.1引言................................................................................................................11.2设计目的......................................................................................................21.3关节机械手研究概况....................................................................................21.3.1国外研究现状.....