六自由度并联机构设计说明书

（需微要信swan165本科毕业设计说明书学校代码：10128企鹅号：1663714557题目：六自由度伸缩式并联机床结构设计学生姓名：学院：机械学院系别：机械系专业：机械电子工程班级：机电10-4班指导教师：讲师内蒙古工业大学本科毕业设计说明书摘红字要并联系联机微床信，也可叫获取做整套并联结构机床(ParallelStructuredMachineTools)、虚拟轴机床(VirtualAxisMachineTools)，曾经被称为六条腿机床、六足虫(Hexapods)。并联机床是近年来国内外机床研究的方向，它具有多自由度、刚度高、精度高、传动链短、制造成本低等优点。但其也不足之处，其中位置正解复杂就是关键的一条。6-THRT伸缩式并联机床是Stewart机床的一种变形结构形式，它主要构成是运动和静止的两个平台上的6个关节点分别分布在同一个平面上，且构成的形状相似。并联机床是一种气动机械，集气（液），在一个典型的机电一体化设备的控制技术，它是很容易实现“六轴联动”，在第二十一世纪将成为主要的高速数控加工设备。本次毕业设计题目结合本院实验室现有的六自由度并联机床机构进行设计，使其能根据工艺要求进行加工。提高学生的工程素质、创新能力、综合实践及应用能力。此次毕业设计的主要内容是对并联机床结构设计，其内容主要包括机器人结构设计总体方案的确定，机器人机构设计的相关计算，以及滚珠丝杠螺母副、步进电机、滚动轴承、联轴器等主要零部件的计算选用，并利用CAXA软件绘制各相关零部件的零件图和总装配图，以期达到能直观看出并联机床实体机构的效果。关键词：并联机床；步进电动机；空间变换矩阵；滚珠丝杠螺母副内蒙古工业大学本科毕业设计说明书AbstractPMT(ParallelMachineTools),alsoknownastheparallelstructuremachine(ParallelStructuredMachineTools),VirtualAxisMachineTool,hasalsobeenknownasthesix-leggedmachine,six-leggedinsects(Hexapods).Parallelmachineisinrecentyearsthedomesticmachinetoolresearchhotspot,ithasmultipledegreesoffreedom,highrigidity,highprecision,shorttransmissionchain,withlowmanufacturingcost.Butitsshortcomings,inwhichtheforwardsolutionofpositionofacomplexisthekey.6-THRTtelescopictypeparallelmachinetoolisStewartmachinetools,adeformablestructureform,itisthemaincharacteristicsofdynamic,staticplatformonthe6jointsarerespectivelydistributedonthesameplane,andformtheshapesimilarity.Parallelmachineisamechanical,pneumatic(hydraulic),controltechnologyinoneofthetypicalelectricalandmechanicalintegrationequipment.Parallelmachineiseasytoachievesix-axis,isexpectedtobecomethe21stcentury,themainhigh-speedlightCNCmachiningequipment.Thecombinationofhospitallaboratoryconstructionproject,locatedsix-DOFparallelmachinetoolsector,sothatitcanbeprocessedaccordingtoprocessrequirements.Improvetheirengineeringquality,innovation,comprehensivepracticeandapplicationofskills.Themaintopicsforthedesignofparallelmachinetooldesign,itscontentincludesthedeterminationofrobotdesign,robotdesignandcalculation,andtheballscrewpair,steppingmotor,bearings,couplings,limitswitch,spindle,andothermajorcomponentsusingCAXAsoftwaretodrawtherelevantpartsofthepartsdrawings,andassemblydrawingstoachievetheparallelmachinetoolcandirectlyseetheeffectofphysicalbodies.Keywords:parallelmachine；Sixaxislinkage；spacetransformationmatrix；ballscrewpair内蒙古工业大学本科毕业设计说明书目录第一章绪论........................................................................................................................11.1课题的研究背景...........................................................................................................11.2课题研究的意义...........................................................................................................21.3课题的研究内容步骤.................................................................................................21.3.1并联机构介绍....................................................................................................31.3.2并联机床设计类型的选定................................................................................31.3.3并联机床结构设计的相关计算.....................................................................41.3.4各零部件与装配图的设计出图.......................................................................4第二章并联机床部件设计与计算.....................................................................................62.16-THRT伸缩式并联机床位置逆解计算与分析.......................................................62.1.16-THRT并联机器人机械结构简介................................................................72.1.2坐标系的建立....................................................................................................72.1.3初始条件的确立...............................................................................................82.1.4空间变换矩阵的求解.......................................................................................92.1.5新坐标及各轴滑块移动量的计算.................................................................102.2滚珠丝杠螺母副的计算与选型.................................................................................122.2.1最大工作载荷的计算.....................................................................................122.2.2最大动载荷的计算.........................................................................................132.2.3规格型号的初选.............................................................................................132.2.4传动效率的计算.............................................................................................132.2.5刚度的验算.....................................................................................................142.2.6稳定性的校验.................................................................................................152.3滚动轴承的选用.........................................................................................................152.3.1基本额定载荷.................................................................................................152.3.2滚动轴承的选择.............................................................................................162.3.3轴承的校核............................................................