摘要随着工业自动化的普及和发展，控制器的需求量逐年增大，搬运机械手的应用也逐渐普及，主要在汽车，电子，机械加工、食品、医药等领域的生产流水线或货物装卸调运,可以更好地节约能源和提高运输设备或产品的效率，以降低其他搬运方式的限制和不足，满足现代经济发展的要求。搬运机械手是一种能自动化定位控制并可重新编程序以变动的多功能机器，在本设计中，通过对机械手手部结构的设计，臂部结构的设计，以及液压系统的设计，实现四自由度的运动，完成了搬运机械手的系统结构设计。关键词：搬运机械手；结构设计；液压系统；四自由度IABSTRACTWiththepopularizationanddevelopmentofindustrialautomation,controldemandincreasedyearbyyear,carryingmanipulatorapplicationalsograduallypopular,mainlyintheautomotive,electronics,machinery,food,medicineandotherfieldsofproductionlinesorcargotransport,canbebettertosaveenergyandimprovetheefficiencyoftransportequipmentorproducts,inordertoreduceotherhandlingthelimitationandinadequacy,meettheneedsofmoderneconomicdevelopment.Manipulatorisakindofautomaticpositioningcontrolandcanbeprogrammedtochangethemulti-functionmachines,Inthisdesign,throughthemechanicalhandarmstructuredesign,structuredesign,andthedesignofthehydraulicsystem,toachievefourdegreesoffreedommovement,completedthemanipulatorsystemstructuredesign.Keywords：manipulator；structuredesign；hydraulicsystem；fourdegreesoffreedommovementII目录摘要..............................................................................................................................................IABSTRACT....................................................................................................................................II1绪论...........................................................................................................................................11.1设计背景..............................................................................................................................11.2机械手简介..........................................................................................................................11.2.1机械手的发展概况......................................................................................................11.2.2机械手的应用意义......................................................................................................21.2.3搬运机械手的应用简况..............................................................................................31.2.4机械手的发展趋势......................................................................................................41.3PLC概况及在机械手中的应用..........................................................................................41.4设计目的..............................................................................................................................61.5设计原则..............................................................................................................................61.6本设计的主要内容..............................................................................................................72.搬运机械手的整体设计.............................................................................................................82.1执行机构..............................................................................................................................82.2驱动系统......................
