本科机械毕业设计论文 CAD 图纸 QQ 401339828
目 录
摘 要 ...........................................................................................................................................III
ABSTRACT ..................................................................................................................................IV
目 录 ............................................................................................................................................V
1 绪 论 .........................................................................................................................................1
1 .1 机械臂概论..........................................................................................................................1
1.1.1 机械臂历史与发展 ........................................................................................................1
1.1.2 机械臂的历史 ................................................................................................................2
1.1.4 机械臂的组成 ................................................................................................................2
1.1.4 机械臂的分类 ................................................................................................................3
1.2 气动技术概述.......................................................................................................................3
1.3 气动机械臂的设计要求.......................................................................................................4
2 机械臂整体设计方案 .................................................................................................................5
2.1 机械臂的座标型式与自由度...............................................................................................5
2.2 机械臂的手腕结构方案设计...............................................................................................5
2.3 机械臂的手臂结构方案设计...............................................................................................6
2.4 机械臂的手部结构方案设计...............................................................................................6
2.5 机械臂的驱动方案设计.......................................................................................................6
2.6 机械臂的控制方案设计.......................................................................................................6
2.7 机械臂的主要技术参数.......................................................................................................6
3 手腕结构设计 .............................................................................................................................9
3.1 手腕的自由度.......................................................................................................................9
3.2 手腕的驱动力矩的计算.......................................................................................................9
3.2.1 手腕转动时所需的驱动力矩 ........................................................................................9
3.2.2 回转气缸的驱动力矩计算 ..........................................................................................11
3.2.3 手腕回转缸的尺寸及其校核 ......................................................................................12
4 手臂伸缩，升降，回转气缸的尺寸设计与校核 ...................................................................15
4.1 手臂回转气缸的尺寸设计与校核.....................................................................................15
4.1.1 尺寸设计 ......................................................................................................................15
4.1.2 尺寸校核 ......................................................................................................................15
4.2 手臂伸缩气缸的尺寸设计与校核.....................................................................................16
4.2.1 手臂伸缩气缸的尺寸设计 ..........................................................................................16
4.2.2 尺寸校核 ......................................................................................................................16
4.2.3 平衡装置 ......................................................................................................................16
4.2.4 导向装置 ......................................................................................................................16
4.3 手臂升降气缸的尺寸设计与校核.....................................................................................17
4.3.1 尺寸设计 ......................................................................................................................17
4.3.2 尺寸校核 ......................................................................................................................17
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