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浙江斯凯瑞机器人股份有限公司第I页直角坐标机器人结构设计摘要随着现代工业的不断发展，不但使传统工业的生产发生了根本性的变化，而且也对人类社会的生产产生了重大的影响。机器人作为现代工业生产的一种工具，不仅大大的提高了生产力，而且把人从各种生产环境中解放出来。目前，许多国家的工业机器人技术得到很好的发展，我国也在进行深入的研究和开发。本文主要是设计一个搬运工件的直角坐标机器人，它可以应用在自动化生产线上与人工相比具有速度快、定位精度准确的特点，具有很强的实用性能。作为直角坐标机器人结构设计，本文用了第二、三、四章详细阐述了设计过程，第五章简要介绍了机器人的控制部分，第六对机器人进行了效果分析，并总结了直角坐标机器人的特点。设计不拘泥于常规，使产品具有更广阔的发展空间，必将成为机器人的发展趋势。浙江斯凯瑞机器人股份有限公司第II页CartesianRobotDesignAbstractWiththecontinuousdevelopmentofmodernindustry,notonlytheproductionoftraditionalindustrieshasundergoneafundamentalchange,butalsotheproductionofhumansocietyhashadamajorimpact.Robotasatoolofmodernindustrialproduction,notonlygreatlyincreasetheproductivityandtheproductionenvironmentfromavarietyofliberation.Currently,manycountrieshaveverygoodindustrialrobottechnologydevelopment,Chinaisalsoin-depthresearchanddevelopment.PortersofthispaperistodesignapieceoftheCartesiancoordinaterobot,whichcanbeusedinautomatedproductionlinesandartificialcomparedtofast,accuratepositioningaccuracycharacteristics,withstrongpracticalperformance.Asthedesignoftheright-anglecoordinaterobot,thetextusesthesecondthethirdandtheforthchapterstosaytheprocessofthedesign.Thefivechapterbrieflydescribessomeoftherobot'scontrol.ThesixthchapterscarriedouteffectivenessanalysisandsummarizesthecharacteristicsofaCartesiancoordinaterobot.Thedesignmakestheproductshavemuchmoredevelopment,whichmustbethecurrentofrobot'sdevelopment.Keywords:StraightlineCartesiancoordinateStructure浙江斯凯瑞机器人股份有限公司第III页目录摘要......................................................................................................................................................................IABSTRACT.................................................................................................................................................II一绪论..........................................................................................................................................................11.1直角坐标机器人概念......................................................................................................11.2直角坐标机器人的应用及分类......................................................................................31.3当前机器人技术的发展.....................................................................................................................31.3.1机器人发展的概况......................................................................................................................31.3.2直角坐标机器人的发展情况...................................................................................................61.4设计基本步骤........................................................................................................................................61.5本文研究的主要内容..........................................................................................................................7二直角坐标机器人的工作原理.....................................................................................................82.1实现三个自由度运动的基本原理..................................................................................................82.2末端执行器抓取工件的基本原理..................................................................................................82.2.1概述...................................................................................................................................................82.2.2手指式手部的工作原理.............................................................................................................9三直角坐标机器人结构设计..........................................................................................................113.1直角坐标机器人外形方案的确定.................................................................................................113.2直角坐标机器人传动及驱动方式的选择...................................................................................113.2.1直角坐标机器人传动方式的选择.........................................................................................113.2.2直角坐标机器人驱动方式的选择........................................................................................123.3直角坐标机器人外形尺寸的确定................................................................................................123.4传动部件、驱动部件类型及主要参数的选择........................................................................133.4.1传动部件参数的选择...............................................................................................................133.4.2驱动部件的选择.........................................................................................................................203.5其它辅助部件的设计........................................................................................................................233.5.1直线导轨的选择.........................................................................................................................233.5.2滚动轴承的选择.........................................................................................................................243.5.3机器人拖链的选择...........................................................................................................