目录摘要....................................................................................................................................1第一章机械手设计任务书..........................................................11.1毕业设计目的......................................................................................................................11.2本课题的内容和要求.........................................................................................................2第二章抓取机构设计.........................................................................42.1手部设计计算......................................................................................................................42.2腕部设计计算......................................................................................................................72.3臂伸缩机构设计..................................................................................................................8第三章液压系统原理设计及草图..................................113.1手部抓取缸...........................................................................................................................113.2腕部摆动液压回路.............................................................................................................123.3小臂伸缩缸液压回路.........................................................................................................133.4总体系统图...........................................................................................................................14第四章机身机座的结构设计..............................................154.1电机的选择...........................................................................................................................164.2减速器的选择......................................................................................................................174.3螺柱的设计与校核.............................................................................................................17第五章机械手的定位与平稳性......................................195.1常用的定位方式..................................................................................................................195.2影响平稳性和定位精度的因素.......................................................................................195.3机械手运动的缓冲装置.....................................................................................................20第六章机械手的控制.....................................................................21第七章机械手的组成与分类..............................................227.1机械手组成...........................................................................................................................227.2机械手分类...........................................................................................................................24第八章机械手Solidworks三维造型..........................................258.1上手爪造型...........................................................................................................................268.2螺栓的绘制...........................................................................................................................30毕业设计感想...........................................
