搜索
毕业设计（论文）I仿人柔性机械手设计摘要灵巧机械手是近年来机器人领域讨论的热门话题，世界上很多国家的研究机构都开展了关于机械手的研究。本文重点讨论了机械手的运动系统，包括机构，传动和驱动，本课题主要研究内容如下：第一章概述。主要介绍课题来源、国内外现状以及本文所要作的工作。第二章灵巧机械手总体方案设计。先后介绍了灵巧机械手总体方案的初步设计，灵巧机械手的设计步骤、主要参数的计算、关键的结构设计，机械传动系统和电气驱动设计。第三章对方案二的改进设计综述。论述了方案二的结构与传动设计。第四章关键结构（零部件）的分析和设计。为了提高机械手的运动速度和控制精度，要求机械手的传动机构具有结构紧凑、体积小、重量轻、无间隙和响应快的特点。第五章总结和提高。本章是对全文的总结，在总结的基础上进一步的指出了本课题研究存在的问题，及灵巧机械手研究发展方向等。关键词：仿人柔性机械手工作原理机构设计自由度毕业设计（论文）IIDesignofHumanoidFlexibleManipulatorAbstractTheflexiblemanipulatoristhehotissuethattherobotrealmdiscussesinrecentyearsandManyresearchinstitutionshaveconductedresearchontherobot.Thisessaydiscussedthesportsystemofflexiblemanipulator,includemechanism,transmissionanddrive,thistopicmainlystudiedthecontentsasfollows:Chapter1Outline.Introducethesubjectofthesourceofthetopicathomeandabroadaswellastheworkwhichwillbeaccomplished.Chapter2Overallprogramdesign.Introducethepreliminarydesignofthedexterousmanipulatoroftheoverallprogram,designsteps,thecalculationofthemainparameters,thekeystructuraldesign,mechanicaltransmission,andelectric-drivendesign.Chapter3Theplanofthetwodesignimprovement.DiscussesthestructreandtransmissiondesignChapter4Analysisanddesignofkeystructures(parts).Inordertoimprovetherobot'smovementspeedandcontrolaccuracy,therobotdrivemechanismhasacompactstructure,smallsize,lightweight,seamlessandfastresponse.Chapter5Summarizeandimprove.Thischapterisasummaryofthefulltext,andfurtherpointedouttheproblemsinthisresearch,andDexterousManipulatordirectionofdevelopmentonthebasisofsummingup.Keywords:Flexiblemanipulator;Workingprinciple;Mechanicaldesign;Freedomdegree毕业设计（论文）III目录1.引言······················································································11.1课题来源·············································································11.2国内外现状···········································································21.3关键技术·············································································41.3.1小而强的驱动···································································51.3.2丰富的感觉·····································································51.3.3聪明的大脑·····································································62.灵巧机械手方案设计·······························································72.1灵巧手设计的基本原则······························································72.1.1手型的选择·····································································72.1.2自由度的选择···································································72.1.3驱动器的选择···································································72.2总体方案的比较·····································································83.方案二的改进设计综述···························································103.1手指机构的传动方案设计··························································103.2FRJ-11灵巧手的整体结构设计····················································113.2.1关节的结构设计·······························································113.2.2手指关节间连接机构的设计··················································133.2.3手掌的结构设计与制作·························································134.关键结构（零部件）设计与分析···············································154.1手指机构设计·······································································154.1.1拇指机构运动学分析························································184.1.24关节手指机构（食指，中指）运动学分析·································194.2传动与结构设计····································································214.3驱动设计············································································245.结论与展望··········································································255.1结论·················································································25毕业设计（论文）IV5.2未来展望············································································25结语·························································································27参考文献··················································································28致谢························································································29毕业设计（论文）21.引言机器人多指灵巧手是一种仿人手的装置,它具有力觉、触觉、视觉和温度感知能力,可以代替人在危险、恶劣的环境下完成普通装置所不能完成的复杂操作任务。多指手的每个手指都相当于一个独立的、具有多自由度的微型机器人,这样通过协调各个手指间的相互运动就可以实现对不同类型物体的精确操作。但同时多指手的使用使得整个系统的复杂性增加,另外,由于操作上的要求,仿人形灵巧手本身的体积有比较严格的要求,所以设计一种高性能且紧凑的控制系统对多指灵巧手的起着至关重要的作用。本论文根据人手抓取物体的仿生学原理所设计机器人手爪为3指手爪，其中一个为拇指，两个分别为食指和中指，并且按人手机构布局。3个手指共有11个自由度。其中拇指有3个自由度，其余两根手指分别相当于食指和中指，它们结构相同，都具有4个自由度。每个关节分别采用一个电机进行驱动。本文在完成了对机械手结构设计的同时，还对各手指进行了运动学分析，以便于对机械手实现控制。在此，我通过整个设计过程，阅读相关文献资料，我对灵巧机械手技术有了一个全新的认识，对我们国家的机械手技术产生很大的信心，也对机械手技术的未来充满期待。相信随着我们国家国民经济水平提高，我国的机械手技术也会有一个相当大的飞跃，一定会赶上甚至超过世界先进水平。1.1课题来源自40多年前，第一台计算机控制的机械臂出现之日起，人类将机械的概念延伸到了一个新的领域——机器人。在制造领域，可以看到众多机械臂在替代人们执行各种操作任务，如喷漆，焊接，搬运，装配等。然而还有许多操作任务单靠机械臂的运动无法完成，例如太空，水下，核辐射等环境下的实验，维护。排险等复杂任务。于是像人手一样的机械手成为期待的目标。然而人类能否造出如此灵巧的机械手呢？在机械技术领域研究人员一直在探索解答这一问题的技术途径。经过十几年的研究，世界一些大学和研究机构开发出多种机械灵巧手样机。它们日益显示出在危险和有害环境下代替人类执行复杂操作任务的可能性。像人一样，机器人需要用它的手与环境发生作用。机器人发展初期，面向的需求首先是制造领域，早期的工业机器人主要执行上下料的简单任务，功能单一的两指夹持器就能满足任务需要。随着技术的进步，工业机器人开始向更多的应用领域发展，上