圆柱坐标式三自由度机械手摘要机器人不仅是一种自动化的机器。机器人是一种可重新编程的、多功能的、机械手,为实现各种任务设计成通过可改变的程序动作来移动材料、零部件、工具或是其他专用装置。本设计设计的是一种圆柱坐标式机械手,该装置具有三个独立运动(两个直线运动、一个旋转运动)，也就是所说的三个自由度。该机构中立柱可相对于机座旋转180度，回转速度15r/min，可水平伸缩距离400，移动速度约0.2/s，机械手可上下垂直运动，其垂直升降量1000，移动速度约0.15/s，机械手最大夹持重量10，所夹持工件为圆柱形，直径范围：Ф30—Ф120。本设计的旋转运动采用摆动液压马达（旋转液压缸）驱动，水平伸缩运动采用液压缸驱动，垂直升降运动仍采用液压缸驱动。关键词：三自由度，圆柱坐标式，工业机器人，机械手CYLINDRICALCOORDINATEROBOTOFTHREEDEGREESOFFREEDOMABSTRACTArobotisnotsimplyanotherautomatedmachine.Arobotisareprogrammablemultifunctionalmanipulatordesignedtomovematerial,parts,tool,orspecializeddevicesthroughvariableprogrammedmotionsfortheperformanceofavarietyoftask.Thisdesignisacylindricalcoordinatemanipulator,thedevicehasthreeseparatecampaigns(twostraight-linemovement,arotatingMovement),thatistosaythatthedevicehasthreedegreesoffreedom.Thebodiesofthecolumncanbecomparedtoframe180-degreerotation,withtherotationspeed15r/min.Themanipulatormaybestretchingfromthelevelof400mm,withthemovingspeedabout0.2m/s.Fromthetoptothebottom,themanipulatorcandoverticalmovementanditsverticaltake-offandlandingis1000mm,withthemovingspeedabout0.15m/s.Thelargestweightthatthedevicegripcanleadto10kg.Theworkpiecewiththediameterfrom30mmto120mmthatthedevicecangripiscylindrical.Accordingtotheissuedemands,besides,carefulthinkingandasktheteacher,therotatingmovementsofthedesignoptsrotatinghydraulicmotor(rotatingcylinder),thelevelofstretchingmovementsaredrivenbyhydrauliccylinders,verticaltake-offandlandingmovementsarestilldrivenbyhydrauliccylinders.KEYWORDS：Threedegreesoffreedom,Cylindrical，Industrialrobot,Manipulator目录前言...............................................................................................1第1章概述...............................................................................21.1工业机械手的概述...........................................21.1.1机械手的组成..............................................21.1.2机械手的运动与分类..........................31.1.3机械手的主要参数.................................41.1.4机械手的结构..............................................51.2工业机械手的发展...........................................51.3工业机械手在我国的发展与应用....6第2章总体设计方案....................................................82.1总体设计的思路.................................................82.1.1思路........................................................................82.2总体方案的确定.................................................82.2.1方案........................................................................8第3章机械手相关的设计与计算....................93.1手指的相关设计与计算..............................93.1.1手指夹紧力的计算.................................93.1.2手部液压缸的选取..............................113.1.3水平伸缩缸尺寸计算.......................133.1.4垂直升降液压缸主要参数的确定..................................................................................................143.2升降手臂的设计..............................................163.3立柱与托盘的设计....................................
