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1南京信息职业技术学院毕业设计论文作者xxx学号xxxxxx系部机电学院专业XXXXXXXX题目简述机械手整体结构的分析和设计指导教师xxxxxxx评阅教师完成时间：2012年X月XX日2毕业设计(论文)中文摘要题目：简述机械手整体结构的分析和设计摘要:通过对数控专业专科三年的所学知识进行整合，对工业机械手各部分机械结构和功能的论述和分析，完成了一种圆柱坐标形式的数控机床上下料机械手的整体结构的设计，简要分析了此机械手驱动系统和传动机构的分析。重点针对机械手的腰座、手臂、手爪等各部分机械结构以及机械手控制系统进行了简单的设计。具体进行了机械手的总体结构的设计，腰座结构的设计，手臂结构的设计，腕部的结构设计，末端执行器（手爪）的结构设计；简要的对机械手的机械传动机构的设计，机械手驱动系统的设计。设计达到了设计的预期目标。关键词：机械手；整体结构；驱动系统；传动系统3毕业设计(论文)外文摘要Title:TheindustrymanipulatoroverallstructuredesignAbstract:Basedonthenumericalcontrolspecialtyinthreeyearstointegratetheknowledgeofthemanipulator,themechanicalstructureandfunctionoftheexpositionandanalysis,akindofcylindricalcoordinateNCmachinetoolfeedingmanipulatoroverallstructuredesign,abriefanalysisofthemanipulatordrivesystemanddrivemechanismanalysis.Focusingonthemechanicalhand,arm,waistholdergripperandotherpartofthemechanicalstructureandcontrolsystemofmechanicalhandforasimpledesign.Themanipulator'sdesignofoverallstructure,lumbarbasestructuredesign,thedesignofthewristarmstructure,structuredesign,theendeffector(PAW)structuredesign;brieflytorobotmechanicaltransmissiondesign,thedesignofthedrivingsystemofmechanicalhand.Thedesignhasreachedtheexpectedtarget.Keyways:Mechanicalhand;thewholestructure;drivingsystem;drivesystem4目录1.引言...........................................................................................................................................................11.1机械手控制现状............................................................................................................................11.2机械手控制设计目的....................................................................................................................11.3机械手控制趋势和意义................................................................................................................22.机械手整体结构及各部分机械结构的论证...........................................................................................32.1机械手的总体结构的分析.............................................................................................................32.1.1机械手总体结构的类型的分析..........................................................................................32.1.2设计具体采用方案..............................................................................................................42.2机械手腰座结构的分析.................................................................................................................42.2.1机械手腰座结构的设计要求分析......................................................................................52.2.2设计具体采用方案..............................................................................................................52.3机械手手臂结构的分析..................................................................................................................62.3.1机械手手臂的设计要求分析..............................................................................................62.3.2设计具体采用方案..............................................................................................................62.4机器手腕部结构的分析..................................................................................................................72.4.1机器手手腕部结构的设计要求分析..................................................................................72.4.2设计具体采用方案..............................................................................................................82.5机械手末端执行器（手爪）的结构分析......................................................................................92.5.1机械手末端执行器的设计要求分析..................................................................................92.5.2机器手夹持器的运动和驱动方式......................................................................................92.5.3机器手夹持器的典型结构................................................................................................102.5.4设计具体采用方案............................................................................................................113.机械手传动结构和驱动系统的分析.....................................................................................................123.1机械手的机械传动机构的分析...................................................................................................123.1.1工业机器手常用的传动机构形式....................................................................................123.1.2设计具体采用方案............................................................................................................143.2机械手驱动系统的分析...............................................................................................................153.2.1机器手各类驱动系统的特点............................................................................................153.2.2工业机器手驱动系统的选择原则....................................................................................163.2.3机器手液压驱动系统........................................................................................................173.2.4机器手气动驱动系统........................................................................................................173.2.5机器手电动驱动系统...........................................................