一种吸盘式搬运机械手的设计与研究机械设计制造及其自动化专业摘要根据工厂的实际环境和自动化设备的布局，设计了六个自由度的关节型吸盘式搬运机械手，它基本能够到达空间的任意位置，实现物品的准确转移。通过查阅相关资料，结合各方面的因素，确定了机械手的总体设计方案，通过相关的技术参数的查阅，确定了手臂、吸盘等参数的标准化。在此基础上通过采样、分析、计算、校验，确定了各部件的结构尺寸，以及电机、减速器规格的选择。通过solidworks软件，根据相关尺寸的大小，绘制出机械手的三维实体模型，并且绘制出相应的工程图。对吸盘机械手进行运动学分析及手臂的位移、速度、加速度等运动仿真，模拟出机械手的运动轨迹，绘制出机械手的运动参数曲线图，并能够实现物品迅速准确转移到目的地的动作。关键词：吸盘式关节型机械手；机器臂结构分析；结构设计；三维设计；运动学仿真ASTRACTAccordingtothelayoutoftheactualplantenvironmentandautomationequipment,thedesignofthesixdegreesoffreedomarticulatedsuctioncuptypemanipulator,whichcanbasicallyarriveatarbitrarylocationinspace,torealizetheaccuratetransfer.Throughaccesstorelevantinformation,combinedwithvariousaspectsoffactors,todeterminetheoveralldesignschemeofthemanipulator,throughaccesstorelevanttechnicalparameterstodeterminethearm,standardizationofdiskparameters.Onthisbasis,throughsampling,analysis,calculationandvalidation,todeterminethestructuresizeofeachcomponent,andthemotor,decelerationdevicespecification.BySolidWorkssoftware,accordingtothesizerelatedtothesizeofthedrawthethree-dimensionalentitymodelofthemanipulator,anddrawthecorrespondingengineeringdrawings.Themanipulatorsuckerforkinematicsanalysisandarmofthedisplacement,velocityandaccelerationofmotionsimulation.Simulationofthetrajectoryofthemanipulatordrawmanipulatormotionofparametriccurves,andcanrealizethegoodsquicklyandaccuratelytransferredtothedestinationoftheaction.Keywords:Articulatedmanipulator；Robotarmstructureanalysis；Structuredesign；Three-dimensionaldesign;Kinematicssimulation目录1绪论..................................................................................................................................11.1引言.............................................................11.2关节机械手研究概况..............................................21.2.1国外研究现状...............................................21.2.2国内研究现状...............................................21.3关节机械手的总体结构............................................31.4主要内容........................................................41.5本章小结........................................................52总体方案设计........................................................62.1机械手工程概述..................................................62.2工业机械手总体设计方案论述......................................62.3机械手机械传动原理..............................................72.4机械手总体方案设计..............................................82.5本章小结........................................................93机械手大臂部结构设计...............................................103.1大臂部结构设计的基本要求.......................................103.2大臂部结构设计.................................................103.3大臂电机及减速器选型...........................................103.4减速器参数的计算...............................................113.5承载能力的计算.................................................153.5.1柔轮齿面的接触强度的计算...........
