内容提要机械手因其较高灵活性和通用性，在生活、制造等各个领域中都扮演着极其重要的角色。它可以搬运货物，分拣物品，并能够在在有害环境下操作以保护人身安全，代替人的繁重劳动，因此被广泛应用于机械制造、轻工以及需求物品搬运等各种场所。本文在纵观了近年来机械手发展状况的基础上，结合机械手方面的设计，对应用于直升机模拟搜救的机械手技术进行了系统的分析，并就其结构的合理性以及应用的可实施性提出了合理化方案。采用整体化的设计思想，充分考虑了软、硬件各自的特点并进行互补优化。对直升机模拟搜救机械手的整体结构、执行结构、驱动系统和控制系统进行了分析和设计。在其驱动系统中采用液压驱动，控制系统中选择PLC的控制单元来完成系统功能的初始化、机械手的移动、故障报警等功能。通过以上部分的工作，得出了经济型、实用型、高可靠型直升机模拟搜救机械手的设计方案。关键词机械手；控制；编程TheHelicopterRescueRobotSimulationDesignandApplication060606219PengfeiQiaoFacultyadviserBingxinHouengineerAbstractBecauseofitshighflexiblemanipulatorsanduniversality,inlife,invariousfieldssuchasplaysaveryimportantrole.Itcancarrygoods,articles,andcanbesortedinharmfulenvironmenttoprotectpersonalsafetyoperation,insteadofheavylabor,therefore,arewidelyusedinmachinerymanufacturing,lightindustryandthedemandforhandlingitems.Basedonthereviewofthedevelopmentinrecentyearsmanipulatorbasedonthedesignofmanipulator,insearchofthemanipulatorusedhelicopterssimulationtechnologysystematicallyanalyzed,anditsstructurerationalityandapplicationofconstructabilityputforwardrationalizationplan.Adoptsintegrativedesignideas,fullconsiderationofthecharacteristicsofthesoftwareandhardwareandcomplementaryoptimization.Thehelicopterrescuemanipulatortosimulatetheoverallstructure,structure,drivingsystemandcontrolsystemanalysisanddesign.Initsdrivesystemusedinthehydrauliccontrolsystem,PLCcontrolunittochoosethesystemfunction,themobilemanipulatorinitialization,faultalarmfunctions.Throughtheabovework,economicalandpractical,highreliabilitymodelofthemanipulatorrescuehelicoptersimulationdesignscheme.KeywordsManipulator,Control,Programming,目录第一章前言.............................................11.1研究的目的及意义.................................11.2机械手在国内外现状和发展趋势.....................11.3主要研究的内容...................................21.4解决的关键问题...................................3第二章夹持装置..........................................32.1夹持装置设计的基本要求............................32.2夹持装置设计......................................42.2.1夹紧力计算...................................42.2.2驱动力计算...................................52.3手爪的夹持误差及分析..............................52.4楔块等尺寸的确定..................................72.4.1斜楔的传动效率...............................82.4.3与的确定...................................92.4.4确定........................................92.4.5确定........................................9第三章腕部.............................................103.1腕部设计的基本要求...............................103.2具有一个自由度的回转缸驱动的典型腕部结构.........103.3腕部结构计算.....................................123.3.1腕部回转力矩的计算..........................123.3.2回转液压缸所驱动力矩计算....................123.3.3回转缸内径D计算............................133.3.4液压缸盖螺钉的计算..........................143.3.5腕部轴承选择................................15第四章伸缩臂设计.........................
