摘要 机器人是近30年来发展起来的一种高科技自动化生产设备。机械手是机器人的一个重要分支。它的特点是可通过变成完成各种预期的作业任务，在构造和性能上兼有人和机器各自的优点，尤其是体现了人的智能和适应性，机器作业的准确性和在各种环境完成作业的能力。本设计完成了多自由度关节式机械手的运动方案设计和驱动方式选择，并对机座，手臂及末端执行器等机械装置进行了结构设计[8]。 机械手的迅速发展是由于它的积极作用正日益为人们所认识。其一，它能迅速地代替人完成某些操作；其二，它能按照生产工艺的要求，遵循一定的程序、时间和位置要求来完成工件的传送和装卸；其三，它能操作某些必要的机具进行焊接和装配，从而大大改善工人的劳动条件，显着地提高劳动生产率，加快实现工业生产机械化和自动化的步伐，因而受到各先进国家的重视，都投入大量的人力和物力去研究和开发[4]。在高温、高压、粉尘浓度高、严重噪音以及带有放射性和化学污染的场合应用的尤为广泛。在我国，近几年也有较快的发展，并取得了一定的成效，受到机械工业和铁路工业部门的重视[6]。 关键词：机械手，电驱动，嵌入式控制 ABSTRACT The robot is a high-tech automated productio
n equipme
nt developed i
n rece
nt 30 years. Ma
nipulator is a
n importa
nt bra
nch of robot. It is characterized by a complete tasks i
n a variety of expectatio
ns, i
n the structure a
nd performa
nce of both people a
nd machi
nes to their respective adva
ntages, especially reflected people's i
ntellige
nce a
nd adaptability, accuracy of machi
ne operatio
n a
nd fi
nish the homework i
n a variety of e
nviro
nme
ntal capacity. Completed the desig
n of multi degree of freedom motio
n scheme of articulated ma
nipulator desig
n a
nd drivi
ng mode selectio
n, a
nd o
n the base, mecha
nical arm a
nd e
nd effector for the structure desig
n of [8]. The rapid developme
nt of the ma
nipulator is due to its positive role is i
ncreasi
ngly recog
nized. First, it ca
n quickly replace ma
n to complete some operatio
ns; seco
ndly, it ca
n be i
n accorda
nce with the requireme
nts of the productio
n process, follow certai
n procedures, time a
nd locatio
n requireme
nts to complete the tra
nsfer a
nd ha
ndli
ng of the workpiece; thirdly, it ca
n operate some
necessary equipme
nt for weldi
ng a
nd assembly, thus greatly improvi
ng worki
ng co
nditio
ns, sig
nifica
nt to improve labor productivity, accelerate the realizatio
n of i
ndustrial productio
n mecha
nizatio
n a
nd automatio
n pace, a
nd thus have the adva
nced
natio
nal atte
ntio
n, have i
nvested a lot of ma
npower a
nd material resources to research a
nd developme
nt of [4]. I
n the high temperature, high pressure, high dust co
nce
ntratio
n, serious
noise as well as the applicatio
n of radioactive a
nd chemical pollutio
n situatio
n is particularly widespread. I
n our cou
ntry, i
n rece
nt years have rapid developme
nt, a
nd achieved certai
n results, by the machi
nery i
ndustry a
nd railway i
ndustry atte
ntio
n [6]. Key words: Mecha
nical arm，Electrically drive
n，Embedded co
ntrol 目录 1绪论.........................................................................................................................................................1 2机械臂结构部分设计....................................................................................................................4 2.1小臂部分.............................................................................................................................4 2.2大臂部分............................................................................................................................17 2.3腰部部分............................................................................................................................26 2.3手腕部分............................................................................................................................35 3电路控制部分设计....................................................................................................................45 3.1单片机的概念................................................................................................................45 3.2单片机特点.........................................................................................................................46 3.3AT89C51单片机简介.........................................................................................................47 3.4单片机设计相关...............................................................................................................48 3.5机械手控制程序编写......................................................................................................48 4结论.......................................................................................................................................................51 5参考文献............................................................................................................................................52 6致谢.......................................................................................................................................................51 1绪论 机械手的发展历史是相当长的，19世纪40年代出现的原子能用机械手就是其历史的开端。后来随着自动化与电子技术的发展，到目前正是工业机械人发展的全盛时期。在日本，无论是机械人的生产量还是使用量都是世界第一位的。据统计，1984年日本生产各种机器人42000台，目前在各种生产线上使用的有164000台； 在发达国家及国内，机器人已广泛地应用于工业、国防、科技、生活等各个领域、工业部门应用最多的当推汽车工业和电子工业，在机械制造行业也有普遍的应用，并逐渐向纤维加工、食品工业、家用产品制造业等行业发展。目前国外机械制造业中，工业机械手主要用于机床、模锻压力机的上下料，以及点焊、弧焊、喷漆等作业。国外航空航天工业中机械手应用得也十分广泛，如铆接装配作业就大量使用了铆接机械手，此外如电气插头的装配、发动机风扇外壳和高压涡轮的焊接、飞机座舱盖和风挡钻孔作业、飞机机身和垂直尾翼钻孔等都采用了机械手。