焊接机械手的结构设计VIP免费

本科毕业设计(论文)题目：焊接机械手的结构设计系别：机电信息系专业：机械设计制造及其自动化班级：学生：学号：指导教师：2013年5月I焊接机械手的结构设计摘要本设计为焊接机械手的结构设计，主要研究内容：腰部回转机构的设计；大、小臂和腕部回转的结构设计。本设计由整体布局入手，参考现有关节型机械臂的相关设计，初步确定腰部的转动惯量，从而确定电机的选型，安装等相关设计。在机械臂的灵活和精度的前提下完成总体结构的设计，然后根据总体结构，从而确定本设计的机械臂各个主要零部件的设计。在主要零部件的设计中，主要包括腰部壳体的设计、轴的结构设计、轴承的选择、电机的设计计算、大小臂的结构和固定等。本设计整体在现有关节型机械臂的结构上做了修改，使得它能够更好的满足本设计的设计要求。本设计结构简单、重量轻、外形尺寸小、设备费用低、运转安全、操作方便、便于维修和管理。关键词：机械手；谐波减速器；结构设计IIStructuredesignofrobotarmAbstractThedesignforthedesignofweldingstructureofthemanipulator,themainresearchcontents:thedesignofthewaistturningmechanism；structuredesignoflarge,smallarmandwristrotation.Thisdesignbytheoveralllayoutwithreferencetotherelevantdesign,theexistingjointtypemanipulator,preliminarydeterminethemomentofinertiaofthewaist,soastodeterminethemotorselection,installationandotherrelateddesign.Completethedesignoftheoverallstructureoftheflexiblemanipulatorbasedonprecisionandthenext,andthenbasedontheoverallstructure,designofmechanicalarmtodeterminethedesignofallthemajorcomponentsofthe.Thedesignofthemaincomponents,includingthehousingdesign,structuraldesignofshaft,bearingselection,designandcalculationofthesizeofmotor,armstructureandfixed.Thedesignofthewholemadechangesintheexistingjointtypemanipulatorstructure,sothatitcanbettermeetthedesignrequirementofthisdesign.Thedesignhassimplestructure,lightweight,smallsize,lowcostofequipment,operationsafety,convenientoperation,easytorepairandmanagement.KeyWords：robotarm；harmonicdrive；structuredesignIII目录1绪论......................................................................................................11.1机器人简介................................................................................................11.1.1机器人的发展及应用........................................................................21.1.2点焊机器人介绍及其研究意义........................................................41.1.3机器人的组成....................................................................................61.2机械手的组成............................................................................................81.3本文主要研究工作....................................................................................112机械手的总体结构........................................................122.1机械手总体结构的类型............................................................................122.2设计具体采用方案....................................................................................133机械手腰部机座................................................................153.1机械手腰部机座结构的设计....................................................................153.2机械手腰部机座设计的具体采用方案....................................................153.3电动机的选择............................................................................................163.4减速器的选择...........................................................................................