1、 本科生毕业论文（设计）本科生毕业论文（设计） 题题 目：目：四自由度机械手设计与仿真四自由度机械手设计与仿真 专业代码：专业代码： 作者姓名：作者姓名： 学学 号：号： 单单 位：位： 指导教师：指导教师： i 摘摘 要要 机械手广泛的应用于工业、农业等领域中，发挥着重要的作用。四自由度机 械手作为一种主要的形式，具有重要的研究意义。本文基于虚拟样机技术，完成 了四自由度机械手机械系统的设计与仿真。论文提出了基于虚拟样机技术的机械 手设计思想和总体设计方案。利用三维设计软件 CAXA2007 进行了机械手零部件 的设计。在此基础上，利用动力学仿真软件 ADAMS2004 对机械手进行了虚拟样
2、 机建模与仿真，分析机械手设计中存在的缺陷，并进行了相应的改进。为了便于 机械手的数控加工，利用 CAXA2007 软件中的数控加工模块对机械手零部件进行 了数控加工编程。四自由度机械手机械系统的设计与仿真为实际的物理样机制造 奠定了基础。 关键词：关键词：机械手；四自由度；三维设计；虚拟样机；数控加工 ii Abstract The manipulator has been widely used in industry and agriculture, and it has played a great role in those fields. The manipulator with
3、four freedom of motion is an important form and has significant research value. This article designed the mechanical system of a manipulator with four freedom of motion based on virtual prototype technology. This article proposed the design thought and design plan of the manipulator. Based on this w
4、ork, the mechanical system of the manipulator was designed based on CAXA2007. Then, the manipulator was modeled and simulated based on ADAMS2004. To realize physical machining, this article introduced the computer numerical programming of the manipulator. The design and simulation of the manipulator is a good basis of the following physical manufacture. Key words ：the manipulator; four fr
