发布时间 : 星期二 文章并联六自由度微动机器人机构设计毕业设计更新完毕开始阅读ba2a59f5b9f67c1cfad6195f312b3169a451ea8f
并联六自由度微动机器人机构设计
摘 要
为了提高生产效率和焊接质量，满足特定的工作要求，本题设计用于焊接的关节型机器人的手腕和末端执行器。根据机器人的工作要求进行了机器人的总体设计。确定机器人的外形时，拟定了手腕的传动路径，选用直流电动机，合理布置了电机、轴和齿轮，设计了齿轮和轴的结构，并进行了强度校核计算。传动中采用了软轴、波纹管联轴器和行星齿轮机构，实现了摆腕、转腕和提腕的六个自由度的要求。设计中大多采用了标准件和常用件，降低了设计和制造成本。
关键词：自由度；焊接；手腕
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Abstract
In order to improve the production efficiency and welding quality, to meet the specific requirements of the work, the design of this thesis is used for the wrist of welding articulated robot and the end of the actuator. According to the requirements of the robots’ work, we make overall design of the robot. When determining the shape of the robot, drawing up the transmission path of the wrist, selecting of DC motor, arranging the motor, the shaft and the gear reasonable, and checking the strength. The transmission apply to flexible shafting, bellows coupling and planetary gear mechanism, achieving to put the wrist, turn the wrist and raise the wrist to mention the requirements of the six degrees of freedom. The designs mainly use standard parts and common parts, reducing the costs of design and manufacturing.
Keywords: degree of freedom; welding; wrist
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目 录
摘 要.............................................................................................. II Abstract ......................................................................................... II 第1章 前言 ................................................................................. 1
1.1 机器人的概念 .................................................................. 1
1.1.1 操作机 .................................................................... 1 1.1.2 驱动单元 ................................................................ 2 1.1.3 控制装置 ................................................................ 2 1.1.4 人工智能系统 ......................................................... 2 1.2 题目来源 ......................................................................... 2 1.3 技术要求 ......................................................................... 2 1.4 本设计要解决的主要问题及设计总体思路 ....................... 2 第2章 国内外研究现状及发展状况 ............................................. 4
2.1 研究现状 ......................................................................... 4
2.1.1 工业机器人 ............................................................. 4 2.1.2 先进机器人 ............................................................. 5 2.2 发展趋势 ......................................................................... 7 第3章 总体方案设计 .................................................................. 9
3.1 机械结构类型的确定 ....................................................... 9
3.1.1 圆柱坐标型 ............................................................. 9 3.1.2 直角坐标型 ............................................................. 9 3.1.3 球坐标型 ................................................................ 9 3.1.4 关节型 .................................................................... 9 3.1.5 平面关节型 ............................................................. 9 3.2 工作空间的确定 .............................................................. 10 3.3 手腕结构的确定 .............................................................. 11 3.4 基本参数的确定 .............................................................. 11 第4章 手腕的结构设计与计算 ................................................... 12
4.1 机器人驱动方案的分析和选择 ........................................ 12
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4.2 手腕电机的选择 .............................................................. 13
4.2.1 提腕电机的选择 .................................................... 13 4.2.2 摆腕和转腕电机的选择 .......................................... 13 4.3 传动比的确定 ................................................................. 13
4.3.1 提腕总传动比的确定 ............................................. 13 4.3.2 转腕和摆腕传动比的确定 ...................................... 14 4.4 传动比的分配 ................................................................. 14 4.5 齿轮的设计 ..................................................................... 15
4.5.1 提腕部分齿轮设计 ................................................. 15 4.5.2 转腕部分齿轮设计 ................................................. 22 4.5.3 摆腕部分齿轮设计 ................................................. 24 4.6 轴的设计和校核 .............................................................. 19
4.6.1 输出轴的设计 ........................................................ 19 4.6.2 传动轴的设计 ........................................................ 20 4.6.3 轴的强度校核 ........................................................ 22 4.7 夹持器的设计 ................................................................. 33 4.8 壳体的设计 ..................................................................... 33 结 论 ........................................................................................... 35 致 谢 ........................................................................................... 36 参考文献 ....................................................................................... 28
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