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黃河科技學(xué)院畢業(yè)設(shè)計(jì)說(shuō)明書 第 IV 頁(yè)
目 錄
1 緒論......................................................................................................................................1
1.1 課題研究的目的和意思.............................................................................................1
1.2 國(guó)內(nèi)外研究狀況.........................................................................................................2
1.3 機(jī)械手的特點(diǎn).............................................................................................................2
1.4 機(jī)械手的組成.............................................................................................................3
2 總體方案設(shè)計(jì)......................................................................................................................4
2.1 機(jī)械手動(dòng)作規(guī)劃.........................................................................................................4
2.2 傳動(dòng)方案的確定.........................................................................................................4
2.2.1 手部方案的確定............................................................................................5
2.2.2 手臂俯仰方案的確定....................................................................................5
2.2.3 手臂回轉(zhuǎn)方案的確定....................................................................................6
3 機(jī)械手結(jié)構(gòu)設(shè)計(jì)..................................................................................................................7
3.1 手部設(shè)計(jì).....................................................................................................................7
3.1.1 手指夾緊力的確定........................................................................................7
3.1.2 手部結(jié)構(gòu)設(shè)計(jì)................................................................................................7
3.2 臂部結(jié)構(gòu)設(shè)計(jì)............................................................................................................ 9
3.2.1 手臂材料的選擇........................................................................................... 9
3.2.2 手臂回轉(zhuǎn)結(jié)構(gòu)設(shè)計(jì).......................................................................................10
3.2.3 手臂俯仰結(jié)構(gòu)設(shè)計(jì).......................................................................................15
4 機(jī)械手液壓驅(qū)動(dòng)系統(tǒng)設(shè)計(jì).................................................................................................16
4.1 驅(qū)動(dòng)方式的選擇........................................................................................................16
4.2 驅(qū)動(dòng)系統(tǒng)的設(shè)計(jì)計(jì)算................................................................................................17
4.2.1 夾緊缸設(shè)計(jì)...................................................................................................17
4.2.2 手臂俯仰缸設(shè)計(jì)...........................................................................................22
4.3 液壓系統(tǒng)原理圖的擬定............................................................................................25
4.3.1 夾緊系統(tǒng)原理圖的擬定...............................................................................25
4.3.2 俯仰系統(tǒng)原理圖的擬定...............................................................................25
4.3.3 系統(tǒng)合成.......................................................................................................26
4.4 液壓泵的計(jì)算..........................................................................................................27
5 機(jī)械手軌跡規(guī)劃.................................................................................................................28
結(jié)論...........................................................................................................................................30
致謝...........................................................................................................................................31
參考文獻(xiàn)...................................................................................................................................32