轻型平动搬运机械手的设计及运动仿真摘要随着工业自动化发展的需要，机械手在工业应用中越来越重要。文章主要叙述了机械手的设计计算过程。首先，本文介绍机械手的作用，机械手的组成和分类，说明了自由度和机械手整体座标的形式。同时，本文给出了这台机械手的主要性能规格参量。文章中介绍了搬运机械手的设计理论与方法。全面详尽的讨论了搬运机械手的手部、腕部、手臂以及机身等主要部件的结构设计。最后使用软件对机械手的手部实现运动仿真。关键词：机械手；运动仿真；液压传动；液压缸；Thelightstablemotiontransportsmanipulator'sdesignandthemovementsimulationAbstractTheapplyingofthemanipulatorsaremoreandmoreimportantintheindustry,withthedevelopmentofindustrialautomation.Thepapermainlynarratedthedesignandcalculationoflightandtransfermanipulator.Thefirst，Thepaperintroducesthefunction,composingandclassificationofthemanipulator,tellsoutthefree-degreeandtheformofcoordinate.Atthesametime,thepapergivesouttheprimaryspecificationparameterofthismanipulator.Thisarticlesystemelaborationindustrymanipulator'sdesigntheoryandmethod.Thecomprehensiveexhaustivediscussionhastransportedmanipulator'shand,thewrist,thearm，thefuselageandsoon,whichthemajorstructuraldesigncomputation.Finallyusesthesoftwaretocarryoutthemovementsimulationformanipulator'shand.Keywords:manipulator;motionsimulation;hydraulicpowertransmission；Hydrauliccylinder目录中文摘要.............................................................................................................1英文摘要.............................................................................................................2主要符号表.....................................................................................................51绪论....................................................................................................................11.1前言.........................................................................................................11.2工业机械手的简史............................................................11.3工业机械手在生产中的应用..............................31.3.1建造旋转零件（转轴、盘类、环类）自动线..................................................................................31.3.2在实现单机自动化方面.................................31.3.3铸、锻、焊热处理等热加工方面...31.4机械手的组成...........................................................................41.4.1执行机构...............................................................................41.4.2驱动机构...............................................................................41.4.3控制系统分类................................................................51.5工业机械手的发展趋势.............................................51.6本文主要研究内容............................................................61.7本章小结..........................................................................................62机械手的总体设计方案............................................................72.1机械手基本形式的选择.............................................72.2机械手的主要部件及运动.....................................72.3驱动机构的选择...................................................................82.4机械手的技术参数列表.............................................82.5本章小结..........................................................................................83...
