論文標(biāo)準(zhǔn)WORD格式排版 57頁

目　　錄
摘　　要 １
Abstract 2
1緒論 3
1.1工業(yè)機(jī)器人簡介 3
1.2 工業(yè)機(jī)器手簡介 3
2 工業(yè)機(jī)器人手腕的總體設(shè)計(jì) 4
2.1機(jī)器人手腕總體設(shè)計(jì)概述 4
2.2腕部的結(jié)構(gòu)特點(diǎn) 6
2.2.1 概述 6
2.2.2單自由度手腕 6
2.2.3二自由度手腕 7
2.2.4三自由度手腕 7
2.2.5柔順手腕結(jié)構(gòu) 8
2.3 腕部的驅(qū)動機(jī)構(gòu) 9
2.4設(shè)計(jì)要求 10
3 機(jī)器人手腕的機(jī)械系統(tǒng)設(shè)計(jì) 11
3.1三個(gè)自由度的實(shí)現(xiàn) 11
3.2傳動機(jī)構(gòu)的設(shè)計(jì) 13
3.3手腕內(nèi)部其他結(jié)構(gòu)的設(shè)計(jì) 14
4 機(jī)器人手腕的機(jī)械傳動裝置設(shè)計(jì)計(jì)算 17
4.1錐齒輪12，13的設(shè)計(jì)計(jì)算 17
4.1.1 選材料并確定初步參數(shù) 17
4.1.2 齒面接觸疲勞強(qiáng)度計(jì)算 17
4.1.3 齒根抗彎疲勞強(qiáng)度驗(yàn)算 18
4.1.4 主要幾何尺寸計(jì)算 19
4.2錐齒輪17，16的設(shè)計(jì) 19
4.2.1選材料并確定初步參數(shù) 19
4.2.2 齒面接觸疲勞強(qiáng)度計(jì)算 20
4.2.3 齒根抗彎疲勞強(qiáng)度驗(yàn)算 21
4.2.4 主要幾何尺寸計(jì)算 22
4.3 同步帶傳動設(shè)計(jì) 23
4.3.1 設(shè)計(jì)功率 23
4.3.2 帶輪的基本尺寸 24
5 三維造型的繪制 25
5.1 造型軟件簡介 25
5.2典型零件的繪制 28
結(jié) 論 54
致 謝 55
參考文獻(xiàn) 56

摘　　要
在工業(yè)上，機(jī)器人有著廣泛的應(yīng)用，尤其是在高溫，高壓，粉塵，噪音，以及帶有放射性和污染的場合。而工業(yè)機(jī)器人是相對較新的電子設(shè)備，它正開始改變現(xiàn)代化工業(yè)面貌。手腕是連接末端執(zhí)行器和手臂的關(guān)鍵，是聯(lián)接手部與臂部的部件，它的作用是調(diào)整或改變工件的方位。本設(shè)計(jì)為三自由度工業(yè)機(jī)器人手腕，可以在兩個(gè)方向上旋轉(zhuǎn)在一個(gè)方向上彎轉(zhuǎn)。三維造型采用的造型軟件為Pro/ENGINEER, Pro/ENGINEER Wildfire野火版2.0以其易學(xué)易用、功能強(qiáng)大和互連互通的特點(diǎn)，推動了整個(gè)產(chǎn)品開發(fā)機(jī)構(gòu)中個(gè)人效率和過程效率的提高。它既能節(jié)省時(shí)間和成本，又能提高產(chǎn)品質(zhì)量。本文是對整個(gè)設(shè)計(jì)工作和造型過程較全面的介紹和總結(jié)。


關(guān)鍵詞：三自由度，機(jī)器人手腕，工業(yè)機(jī)器人


Abstract
Industrially, Industrial robots are found in numerous applications,especially in the place where high temperature, high pressure ,dust,noises,radioativity and infectant. Industrial robots are relatively new electromechanical devices that are beginning to change the appearance of modern industry. Wrist is the key of elemet which connect arm and final implement.Adjust the workpiece is its function.This scheme introduced a industrial robot wrist with three degree of freedom. It is composed of one bend axis and two rotary axes.Use Pro/ENGINEER Wildfire drawing 3D model. The software that the 3D shape adopt is Pro/ENGINEER, the Pro/ENGINEER Wildfire version 2.0 with it easy to learn easily use of characteristics, pushed the exaltation of personal efficiency and the process efficiency in the whole product development organization.It since can save time and cost, and then raise product quality.This paper is more comprehensive introduction and summing-up for the for the whole design work and the drawing of 3D model.


KeyWords：three degrees of freedom, robot wrist, Industrial robot