1、五自由度机械手毕业论文五自由度机械手毕业论文 题目：具有五个自由度的机械手设计 摘要 随着工业自动化发展的需要，机械手在工业应用中越来越重要。文章主要叙述了机械手 的设计计算过程 。 首先，本文介绍机械手的作用，机械手的组成和分类，说明了自由度和机械手整体座标 的形式。同时，本文给出了这台机械手的主要性能规格参量。机械手采用液压传动，使传动 系统简单可靠；选用可编程控制器对机械手的动作进行控制，使控制程序简单，系统维护方 便。设计过程中，对机械手和液压缸部分做了详细的设计计算。同时，对机械手的通用性主 要是采用可更换式手部结构来实现，通过更换手部，可使机械手抓取外圆零件和内圆零件， 从而实现了
2、系统的多功能化。机械手总体结构能够实现手臂的水平伸缩、垂直升降、旋转和 抓取等功能，这些动作都是可编程控制器控制，用液压缸驱动机械手来完成的。 文章中介绍了搬运机械手的设计理论与方法。全面详尽的讨论了搬运机械手的手部、腕 部、手臂以及机身等主要部件的结构设计。 最后使用软件对机械手PLC控制仿真。 关键词关键词：机械手；液压传动；液压缸；PLC仿真； Abstract The applying of the manipulators are more and more important in the industry, with the development of industrial a
3、utomation. The paper mainly narrated the design and calculation of light and transfer manipulator. The first ， The paper introduces the function,composing and classification of the manipulator,tells out the free-degree and the form of coordinate.At the same time,the paper gives out the primary speci
4、fication parameter of this manipulator. Manipulator use hydraulic drive so the transmission system can be simple and reliable. The manipulator and hydraulic cylinder are detailed introduction in this paper. The movements of mechanical hands are controlled by programmable controller which procedures
5、are simple and the system maintenance can be convenient. And the universal ability of manipulator is based on the interchangeability of the hands structure. Manipulator can grasp cylindrical parts and inner parts through the replacement of hand so system is multifunctional. Manipulator overall struc
6、ture achieves some functions of the level expands and contracts, the vertical fluctuation and captures the semifinished materials. All those movements are controlled by programmable controller and realized by hydraulic cylinders. This article system elaboration industry manipulators design theory and method. The comprehensive exhaustive discussion has transported manipulators hand, the wrist, the arm ，the fuselage and so on ,which the major structural design computation. Finally uses the soft
