1、 I 摘 要 本次设计的多功能机械手 为液压通用机械手， 主要由手爪、手腕、手臂、机身、机座等组成，具备上料、翻转和转位等多种功能，并按自动线的统一生产节拍和生产纲领完成以上动作。本机械手机身采用机座式，自动线围绕机座布置，其坐标形式为 圆柱 坐标式，具有立柱旋转、手臂伸缩、腕部转动和腕部 摆动 等 4 个自由度；驱动方式为液压驱动 ， 利用油缸、齿轮、齿条实现直线运动；利用油缸与齿轮、齿条或链条实现回转运动。液压驱动的优点是 压力高、体积小，出力大，动作平缓，并能在中间位置停止。本次设计的机械手能对不同物体完成多种动作。 关键 词 ： 机械手 ； 圆柱 坐标 ； 液压 驱动 II Abstr
2、act The design of multi-manipulator hydraulic manipulator general, mainly by the gripper, wrist, arm, body, base etc., with the material, flip, and a variety of functions such as translocation, in accordance with the unified autom ated production line beat and production program have done so. This m
3、achine adopts the base-type mobile phone, automatic wire around the base layout, its coordinates in the form of cylindrical coordinate type, with column rotation, arm stretching, wrist rotation and wrist swing and so four degrees of freedom； drive mode for the hydraulic drive, use fuel tank, gear, r
4、ack to achieve linear motion ， use of tanks and gear, rack or chain to achieve rotary motion. Hydraulic drive has the advantage of high pressure, small size, contribute to a large, gentle movement and can stop in the middle. The design of the robot can complete a variety of different objects in action. Keywords: mechanical hand； cylindrical coordinate； fluid power drive
