工业机器人机构原理与设计

摘要在当今社会的机械制造行业中，为了能够提高机械产品的生产效率，保障其产品的质量，对越来越多的企业来说，尤其规模较大的企业，生产过程中的自动化程度逐渐开始起到重要的作用。而在自动化生产线上运作的工业机器人的重要作用，使更多企业越来越青睐在一体自动化生产中采用工业机器人。目前，工业机器人主要在生产线上可以实现堆垛、焊接、喷涂和搬运等重复性强并且劳动强度极大的工作。本毕业设计概述了工业机器人的背景历史以及研究的目的意义和发展趋势。主要设计了所需的六自由度机器人的主要运动机构，本毕业设计所设计的工业机器人由腰部、肩部、肘部、大小臂、腕关节以及手爪组成，腰部和大臂由肩关节联接，大臂和小臂由肘关节联接，小臂与手爪通过腕关节联动，最后能够实现大臂做回转运动和仰俯摆动，小臂做回转运动和仰俯摆动，手爪做回转运动和俯仰摆动。主要阐述了如何设计计算腰、肩、肘以及手腕这些关节的驱动以及传动方式，选择怎样的减速装置，以及轴的设计校核等等。并且对部分承受载荷较大的零件进行了有限元分析，以确保设计结构的强度要求。68909

毕业论文关键词工业机器人六自由度结构设计谐波减速器

毕业设计说明书外文摘要

Title the Mechanism and Designed Principle of Industrial Robot

Abstract

In today's machinery manufacturing industry, in order to improve the production efficiency and guarantee the product quality, more and more enterprises gradually pay attention to the automation of production process. The importance of the industrial robot in automatic production’s line, makes it be accepted and adopted by the enterprise gradually. Currently, the main industrial robots to welding, spraying, such as transportation and stacking repetitive work and labor intensity greatly. This graduation design provides an overview of the industrial robot history background and research meaning and the purpose of the development trend. Main design is the main movement of the required robot body, the industrial robot is composed of the waist and the forearm and hand claw, form the shoulder, waist and shoulder big elbow is formed between the arm and forearm, the forearm and hand form the wrist, arm can do rotary motion and movement fell back and forearm do rotary motion and prone swing, gripper do rotary motion and longitudinal oscillation. Mainly expounds how to design the waist, shoulder, elbow and wrist, how to choose these joints drive and transmission way, choose what kind of speed reducer, the choice of gears, bearings, and the design of the shaft.

Keywords industrial robots six degrees of freedom structure design Harmonic reducer

1 绪论1

1.1 课题背景及研究的意义1

1.2 国内外的现状以及发展趋势1

2 工业机器人结构设计2

2.1 机器人腰部结构设计4

2.2 机器人肩关节结构设计7

2.3 机器人肘关节摆动结构设计10 工业机器人机构原理与设计:http://www.751com.cn/jixie/lunwen_77605.html