3-DOF工業(yè)機(jī)器人結(jié)構(gòu)設(shè)計(jì)

論文編號(hào):JX1597  論文字?jǐn)?shù):10768.頁數(shù):36 附任務(wù)書，開題報(bào)告，外文翻譯,CAD圖

3-DOF工業(yè)機(jī)器人的結(jié)構(gòu)設(shè)計(jì)

摘要：在當(dāng)今大規(guī)模制造業(yè)中，企業(yè)為提高生產(chǎn)效率，保障產(chǎn)品質(zhì)量，普遍重視生產(chǎn)過程的自動(dòng)化程度，工業(yè)機(jī)器人作為自動(dòng)化生產(chǎn)線上的重要成員，逐漸被企業(yè)所認(rèn)同并采用。工業(yè)機(jī)器人的技術(shù)水平和應(yīng)用程度在一定程度上反映了一個(gè)國家工業(yè)自動(dòng)化的水平，。工業(yè)機(jī)器人的技術(shù)水平和應(yīng)用程度在一定程度上反映了一個(gè)國家工業(yè)自動(dòng)化的水平，目前，工業(yè)機(jī)器人主要承擔(dān)著焊接、噴涂、搬運(yùn)以及堆垛等重復(fù)性并且勞動(dòng)強(qiáng)度極大的工作，工作方式一般采取示教再現(xiàn)的方式。
 本設(shè)計(jì)介紹了關(guān)于工業(yè)機(jī)器人的一些基本常識(shí)和原理，包括工業(yè)機(jī)器人的組成、分類、主要技術(shù)性能參數(shù)和工業(yè)機(jī)器人的運(yùn)動(dòng)分析，并參考通用型工業(yè)六自由度機(jī)器人的結(jié)構(gòu)。根據(jù)對(duì)工業(yè)六自由度機(jī)器人的總體結(jié)構(gòu)及傳動(dòng)系統(tǒng)的分析和探討，進(jìn)行三自由度工業(yè)機(jī)器人的結(jié)構(gòu)設(shè)計(jì)。關(guān)鍵在于三軸（臂）的傳動(dòng)系統(tǒng)的設(shè)計(jì)以及整體的結(jié)構(gòu)設(shè)計(jì)，避免運(yùn)動(dòng)的干涉，在本次設(shè)計(jì)中主要負(fù)責(zé)第一臂與底座的結(jié)構(gòu)設(shè)計(jì)及其傳動(dòng)原理，對(duì)第一臂與底座的各零部件的結(jié)構(gòu)設(shè)計(jì)。
 
 
關(guān)鍵詞：三自由度    機(jī)器人     傳動(dòng)原理     控制
 
 
 3-DOF Structural Design of Industrial Robots

  Abstract ： In the modern large-scale manufacturing industry, enterprises pay more attention on the automation degree of the production process in order to enhance the production efficiency, and guarantee the product quality. As an important part of the automation production line, industrial robots are gradually approved and adopted by enterprises. The technique level and the application degree of industrial robots reflect the national level of the industrial automation to some extent, currently, industrial robots mainly undertake the jops of welding, spraying, transporting and stowing etc. , which are usually done repeatedly and take high work strength, and most of these robots work in playback way.
 The Design of industrial robots on some basic common sense and principles, including the composition of industrial robots, classification, main technical performance parameters and the movement of industrial robots, with reference to general-purpose industrial 6-DOF robot's structure, conduct three degrees of freedom industrial robot structural design, based on the industry overall structure of six degrees of freedom robot and transmission system analysis and discussion of the 3-DOF industrial robot for structural design. The key lies in the fact that three axis (arm) transmission system design and the whole structure design, avoid the interference in the sports, mainly responsible for the design of the arm and base structure design and its transmission principle of first arm and the base of the parts of the structure design.

Keywords: 3-DOF      Robots       Transmission principle       Control
目   錄

1  引言 (01)
 1. 1  選題的依據(jù)和意義 (02)
 1. 2  國內(nèi)外研究概況 (03)
 1. 3  論文主要內(nèi)容 (05)
2   機(jī)器人結(jié)構(gòu)分析 (06)
 2. 1  總體結(jié)構(gòu)的概述 (06)
 2. 2  第一軸（大臂）的結(jié)構(gòu) (07)
 2. 3  第二軸結(jié)構(gòu) (09)
 2. 4  第三軸結(jié)構(gòu) (10)
 2. 5 傳動(dòng)方案的確定 (11)

3   設(shè)計(jì)計(jì)算 (12)
 3. 1  電動(dòng)機(jī)的選擇 (12)
4  傳動(dòng)結(jié)構(gòu)的設(shè)計(jì)計(jì)算 (16)
 4. 1   第一軸的傳動(dòng)結(jié)構(gòu)設(shè)計(jì) (16)
 4. 2   軸承的選擇 (31)
 4．2．1  斜齒輪傳動(dòng)軸上的軸承 (31)
5 機(jī)器人各零部件的結(jié)構(gòu)設(shè)計(jì) (32)
 5. 1  轉(zhuǎn)角范圍的控制設(shè)計(jì) (32)
 5. 2  主要零部件的結(jié)構(gòu)設(shè)計(jì)（第一臂與底座） (33)
 5．2 .1  第一軸轉(zhuǎn)臂的結(jié)構(gòu) (33)
 5．2 .2  底座的結(jié)構(gòu)設(shè)計(jì) (33)
6 總    結(jié) (34)
 參考文獻(xiàn) (35)
 致    謝 (36)
附錄  A 外文文獻(xiàn)翻譯
附錄  B CAD圖A1總裝配圖與各零件圖