HarbinInstituteofTechnology综合课程设计Ⅱ报告题目：SCARA工业机器人设计院系：机电工程学院班级：*******姓名：****学号：***********指导教师：***哈尔滨工业大学2017年10月26日综合课程设计（Ⅱ）目录第1章SCARA机器人简介..................................................................................1第2章SCARA机器人的总体设计..........................................................................22.1SCARA机器人的驱动方式......................................................................22.1.1液压驱动......................................................................................22.1.2气压驱动......................................................................................22.1.3电力驱动......................................................................................32.2SCARA机器人驱动方式的确定................................................................42.3SCARA机器人的减速器选择...................................................................52.4SCARA机器人传动机构的对比与分析.......................................................52.5SCARA机器人机构杆件参数初定.............................................................62.6SCARA机器人运动空间计算...................................................................72.7SCARA机械臂材料初定..........................................................................9第3章SCARA机器人关节元件设计计算.............................................................103.1滚珠丝杆滚珠花键的计算及选型.............................................................103.1.1计算滚珠丝杆花键的负载..............................................................103.1.2计算滚珠丝杠花键的转速..............................................................113.1.3螺母的选择.................................................................................113.1.4计算滚珠丝杠花键的最大动载荷....................................................113.1.5刚度的验算.................................................................................123.1.6计算传动效率.............................................................................123.1.7滚珠丝杠花键选择.......................................................................133.1.8滚珠丝杠花键驱动电机的选择与计算..............................................133.23轴同步齿形带的设计与选型................................................................143.2.1确定同步齿形带的计算功率...........................................................143.2.2选定带型和节距..........................................................................153.2.3大小带轮齿数及节圆半径。...........................................................153.2.4同步带带速计算..........................................................................173.2.5初选中心距.................................................................................173.2.6带长及齿数确定..........................................................................173.2.7基本额定功率.............................................................................183.2.8带宽计算....................................................................................183.2.9作用于轴上的力计算....................................................................193.34轴同步齿形带的设计与选型................................................................193.3.1确定同...
