本文设计了一个机械手。与传统的电动机械手相比，本文采用气压控制，因为气动机器人可以承载较重的物体。本文使用AutoCAD技术设计机械手的结构并设计空气传输的原理。 Solidworks 3D软件对机械手执行3D实体建模，并以可视方式显示机械手的结构布局和零件。 这种设计的机械手可以实现物料的抓取，旋转，伸缩，提升和翻转，以确保将物料输送到指定位置。通过控制移动速度，可以满足生产效率的要求。 Desig
n of 3-DOF P
neumatic Ma
nipulator Mi
ng Ya
n (Mecha
nical & Electrical E
ngi
neeri
ng College of Sha
ndo
ng Agricultural U
niversity, Tai’a
n, Sha
ndo
ng 271018) Abstract：Ma
nipulator is a
n automatic product to replace ma
nual ha
ndli
ng by usi
ng robot motio
n trajectory. The ma
nipulator ca
n be equipped with differe
nt e
nd effectors to complete the processi
ng of various shapes a
nd states of workpieces, thus greatly reduci
ng the heavy ma
nual labor of huma
n bei
ngs. More tha
n 100000 ma
nipulators are used i
n the world. They are widely used i
n automatic loadi
ng a
nd u
nloadi
ng of machi
ne tools, automatic productio
n li
nes of stampi
ng machi
nes, automatic assembly li
nes, palletizi
ng a
nd loadi
ng a
nd u
nloadi
ng as well as automatic loadi
ng a
nd u
nloadi
ng of co
ntai
ners. This paper desig
ns a ma
nipulator. Compared with the traditio
nal electric ma
nipulator, p
neumatic co
ntrol is adopted i
n this paper, because p
neumatic robot ca
n carry heavy objects. This paper uses AutoCAD Tech
nology to desig
n the structure of ma
nipulator a
nd the pri
nciple of air tra
nsmissio
n. SolidWorks 3D software performs 3D solid modeli
ng for ma
nipulator, a
nd displays the structure layout a
nd parts of ma
nipulator visually. This ki
nd of ma
nipulator ca
n grasp, rotate, stretch, lift a
nd flip the material to e
nsure that the material is tra
nsported to the desig
nated positio
n. By co
ntrolli
ng the movi
ng speed, the requireme
nts of productio
n efficie
ncy ca
n be met. Keywords: ma
nipulator; AutoCAD; SolidWorks; p
neumatic system; structural desig
n 1前言 1.1课题背景 机械手是可以执行自动化处理操作的工业机器人。处理是指使用一种设备固定工件，这是指从一个加工位置移动到另一加工位置。该机械手可以配备不同的末端执行器，以完成各种形状和状态的工件的处理，从而大大减少了人类的繁重体力劳动。全球使用的机械手超过100,000，广泛用于机床的自动装卸，冲压机的自动生产线，自动装配线，码垛和装卸以及容器的自动装卸。一些发达国家已经制定了最大的人工处理方法，超出限制的必须由机械手完成。