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本科毕业设计一种吸盘式搬运机械手的设计与研究商丘工学院2016-JX-SJ080202-115学院机械工程学院专业机械设计制造及其自动化学号4112020407学生姓名周成指导教师张保恒高威提交日期2016年05月23日诚信承诺书本人郑重承诺和声明:我承诺在毕业论文撰写过程中遵守学校有关规定,恪守学术规范,此毕业设计中均系本人在指导教师指导下独立完成,没有剽窃、抄袭他人的学术观点、思想和成果,没有篡改研究数据,凡涉及其他作者的观点和材料,均作了注释,如有违规行为发生,我愿承担一切责任,接受学校的处理,并承担相应的法律责任。毕业设计作者签名：年月日I摘要根据工厂的实际环境和自动化设备的布局，设计了六个自由度的关节型吸盘式搬运机械手，它基本能够到达空间的任意位置，实现物品的准确转移。通过查阅相关资料，结合各方面的因素，确定了机械手的总体设计方案，通过相关的技术参数的查阅，确定了手臂、吸盘等参数的标准化。在此基础上通过采样、分析、计算、校验，确定了各部件的结构尺寸，以及电机、减速器规格的选择。通过solidworks软件，根据相关尺寸的大小，绘制出机械手的三维实体模型，并且绘制出相应的工程图。对吸盘机械手进行运动学分析及手臂的位移、速度、加速度等运动仿真，模拟出机械手的运动轨迹，绘制出机械手的运动参数曲线图，并能够实现物品迅速准确转移到目的地的动作。关键词：吸盘式关节型机械手；机器臂结构分析；结构设计；三维设计；运动学仿真IIASTRACTAccordingtothelayoutoftheactualplantenvironmentandautomationequipment,thedesignofthesixdegreesoffreedomarticulatedsuctioncuptypemanipulator,whichcanbasicallyarriveatarbitrarylocationinspace,torealizetheaccuratetransfer.Throughaccesstorelevantinformation,combinedwithvariousaspectsoffactors,todeterminetheoveralldesignschemeofthemanipulator,throughaccesstorelevanttechnicalparameterstodeterminethearm,standardizationofdiskparameters.Onthisbasis,throughsampling,analysis,calculationandvalidation,todeterminethestructuresizeofeachcomponent,andthemotor,decelerationdevicespecification.BySolidWorkssoftware,accordingtothesizerelatedtothesizeofthedrawthethree-dimensionalentitymodelofthemanipulator,anddrawthecorrespondingengineeringdrawings.Themanipulatorsuckerforkinematicsanalysisandarmofthedisplacement,velocityandaccelerationofmotionsimulation.Simulationofthetrajectoryofthemanipulatordrawmanipulatormotionofparametriccurves,andcanrealizethegoodsquicklyandaccuratelytransferredtothedestinationoftheaction.Keywords:Articulatedmanipulator；Robotarmstructureanalysis；Structuredesign；Three-dimensionaldesign;KinematicssimulationIII目录1绪论...............................................................................................................................11.1引言..........................................................11.2关节机械手研究概况............................................21.2.1国外研究现状.............................................21.2.2国内研究现状.............................................21.3关节机械手的总体结构..........................................31.4主要内容......................................................41.5本章小结......................................................52总体方案设计.......................................................62.1机械手工程概述................................................62.2工业机械手总体设计方案论述....................................62.3机械手机械传动原理............................................72.4机械手总体方案设计............................................82.5本章小结......................................................93机械手大臂部结构设计..............................................103.1大臂部结构设计的基本要求.....................................103.2大臂部结构设计...............................................103.3大臂电机及减速器选型.........................................103.4减速器参数的计算.............................................113.5承载能力的计算................................................153.5.1柔轮齿面的接触强度的计算................................153.5.2柔轮疲劳强度的计算......................................163.6本章小结.....................................................204小臂结构设计......................................................214.1腕部设计.....................................................214.1.1手腕偏转驱动计算........................................214.1.2手腕俯仰驱动计算........................................324.1.3电动机的选择............................................324.2小臂部结构设计...............................................344.3小臂电机及减速器选型.........................................344.3.1传动结构形式的选择......................................354.3.2几何参数的计算..........................................354.4凸轮波发生器及其薄壁轴承的计算...............................364.4.1柔轮齿面的接触强度的计算................................374.4.2柔轮疲劳强度的计算......................................374.5轴结构尺寸设计...............................................384.6轴的受力分析及计算...........................................394.7轴承的寿命校核...............................................404.8本章小结.....................................................425机身设计..........................................................435.1步进电机选择.................................................435.1.1计算输出轴的转矩........................................43IV5.1.2确定各轴传动比..........................................455.1.3传动装置的运动和动力参数................................455.2齿轮设计与计算................................................485.2.1高速级齿轮设计与计算....................................485.2.2低速级齿轮设计与计算....................................525.3轴的设计与计算................................................555.3.1输入轴的设计与计算......................................555.3.2中间轴的设计与计算......................................585.3.3输出轴的设计与计算......................................615.4轴承的校核....................................................635.4.1输入轴上轴承寿命计算....................................635.4.2中间轴上轴承寿命计算....................................645.4.3输出轴上轴承寿命计算....................................655.5键的选择和校核..................