六自由度焊接機(jī)器人的設(shè)計(jì)【含CAD圖紙、說明書】,含CAD圖紙、說明書,自由度,焊接,機(jī)器人,設(shè)計(jì),cad,圖紙,說明書,仿單 六自由度焊接機(jī)器人設(shè)計(jì) 摘要: 為了提高生產(chǎn)效率和產(chǎn)品的焊接質(zhì)量,滿足實(shí)際工作需要,本課題設(shè)計(jì)了用于焊接的關(guān)節(jié)型機(jī)器人。根據(jù)機(jī)器人的工作要求和結(jié)構(gòu)特點(diǎn)，進(jìn)行了機(jī)器人的總體設(shè)計(jì)，確定了機(jī)器人的外形尺寸和工作空間，擬定了機(jī)器人各關(guān)節(jié)的總體傳動(dòng)方案，對機(jī)器人腰關(guān)節(jié)結(jié)構(gòu)進(jìn)行了詳細(xì)設(shè)計(jì)，合理布置了電機(jī)和齒輪，確定了各級傳動(dòng)參數(shù)，進(jìn)行了齒輪、軸和軸承的設(shè)計(jì)計(jì)算和校核。利用齊次變換矩陣法建立了六自由度關(guān)節(jié)機(jī)器人的正運(yùn)動(dòng)學(xué)模型，求出機(jī)器人末端相對于各自參考坐標(biāo)系的齊次坐標(biāo)值，建立了在直角坐標(biāo)空間內(nèi)機(jī)器人末端執(zhí)行器的位置和姿態(tài)與關(guān)節(jié)變量值的對應(yīng)關(guān)系?；趲缀瓮队霸硗茖?dǎo)出相應(yīng)的逆運(yùn)動(dòng)學(xué)模型，求出了各個(gè)關(guān)節(jié)的角度值，建立了機(jī)器人關(guān)節(jié)空間與世界空間的映射關(guān)系。該機(jī)器人具有剛性好，位置精度高、運(yùn)行平穩(wěn)的特點(diǎn)。 關(guān)鍵詞：關(guān)節(jié)型機(jī)器人；位姿分析；總體設(shè)計(jì)；腰部結(jié)構(gòu)設(shè)計(jì) Abstract : In order to improve the efficiency of production and welding quality of products and meet real work's needs, this subject has designed the articulated robot used for welding . According to the job requirements for the robot and structure characteristic , I have carried on the overall design of the robot, confirmed the external dimension and workspace of the robot, drafted the overall transmission scheme of every joint of the robot. I have designed the waist structure of the robot in detail, assigned the electrical machinery and gear wheel rationally, confirmed at all level transmission parameters , carried on the design and calculating of gear wheels , shafts and bearings and checking them.The kinematic model of robot system has been built up by means of the homogenous transformation of matrix in this thesis and deduces the robot's homogenous coordinate which is relative to its reference coordinate. We also make up the position relationship between the robot's end effector and the variable friable of every joint. The inverse kinematic model is deduced which based on the projection principle of geometry and the value of angle is worked out. What’s more, the relationship is built up between the joint space of robot and the world space. This robot has the characteristics of fine rigidity , position precision high , that operate steadily. Key words: Articulated robot; Appearance analysis in the location; Design overallly; Waist articulated structural design of the robot 目　錄 1 前言…………………………………………………………………………………1 1.1 題目來源及分析…………………………………………………………………1 1.2 研究目的…………………………………………………………………………2 1.3國內(nèi)外發(fā)展及研究現(xiàn)狀…………………………………………………………2 2 關(guān)節(jié)型機(jī)器人總體設(shè)計(jì)……………………………………………………………4 2.1 確定基本技術(shù)參數(shù)………………………………………………………………4 2.1.1機(jī)械結(jié)構(gòu)類型的選擇…………………………………………………………4 2.1.2 額定負(fù)載………………………………………………………………………5 2.1.3 工作范圍………………………………………………………………………5 2.1.4 操作機(jī)的驅(qū)動(dòng)系統(tǒng)設(shè)計(jì)………………………………………………………5 2.1.5 控制系統(tǒng)的選擇………………………………………………………………6 2.1.6 確定關(guān)節(jié)型機(jī)器人手臂的配置形式…………………………………………6 2.2 關(guān)節(jié)型機(jī)器人本體結(jié)構(gòu)設(shè)計(jì)……………………………………………………7 3 關(guān)節(jié)型機(jī)器人腰部結(jié)構(gòu)設(shè)計(jì)…………………………………………………… 10 3.1 電動(dòng)機(jī)的選擇…………………………………………………………………10 3.2 計(jì)算傳動(dòng)裝置的總傳動(dòng)比及分配各級傳動(dòng)比………………………………12 3.3 軸的設(shè)計(jì)計(jì)算…………………………………………………………………12 3.3.1 計(jì)算各軸轉(zhuǎn)速、轉(zhuǎn)矩和輸入功率……………………………………………12 3.3.2 確定三根軸的具體尺寸……………………………………………………13 3.4 確定齒輪的參數(shù)………………………………………………………………17 3.4.1 選擇材料……………………………………………………………………17 3.4.2 壓力角的選擇………………………………………………………………17 3.4.3 齒數(shù)和模數(shù)的選擇…………………………………………………………17 3.4.4 齒寬系數(shù)的確定……………………………………………………………17 3.4.5 確定齒輪傳動(dòng)的精度………………………………………………………18 3.4.6 齒輪的校核…………………………………………………………………19 3.5 殼體設(shè)計(jì)………………………………………………………………………22 4 關(guān)節(jié)型機(jī)器人的位姿分析………………………………………………………23 4.1 機(jī)器人的位姿與運(yùn)動(dòng)的描述…………………………………………………23 4.2 關(guān)節(jié)型機(jī)器人的廣義連桿變換矩陣…………………………………………23 4.3 關(guān)節(jié)型機(jī)器人運(yùn)動(dòng)方程………………………………………………………26 4.3.1 關(guān)節(jié)型機(jī)器人運(yùn)動(dòng)分析……………………………………………………26 4.3.2 關(guān)節(jié)型機(jī)器人運(yùn)動(dòng)反解……………………………………………………29 5 結(jié)論………………………………………………………………………………34 參考文獻(xiàn)……………………………………………………………………………35 附錄…………………………………………………………………………………36