目录 摘要I ABSTRACT II 第1章绪论1 1.1机械手的简介1 1.2机械手的简史.................................................................................................2 1.3机械手的组成................................................................................................4 1.3.1执行机构...............................................................................................4 1.3.2驱动机构...............................................................................................6 1.3.3控制系统及其分类...............................................................................6 1.4机械手的发展趋势........................................................................................6 1.5机械手的自由度和座标型式........................................................................8 1.5.1机械手的自由度...................................................................................8 1.5.2座标型式...............................................................................................8 1.6机械手的展望.............................................................................................,10 1.7本章小结......................................................................................................11 第2章焊接机械手的总体设计方案.....................................................................13 2.1方案设计......................................................................................................13 2.1.1方案要求.............................................................................................13 2.1.2设计方案的确定.................................................................................14 2.2传动结构设计与分析..................................................................................16 2.2.1腰部传动机构....................................................................................16 2.2.2大臂传动机构....................................................................................17 2.2.3小臂和焊枪夹具传动机构................................................................18 2.3执行机构的设计与分析.............................................................................19 2.3.1腰部....................................................................................................19 2.3.2大臂....................................................................................................21 2.3.3小臂......................................................................................................21 2.4整体设计方案示意图..................................................................................22 2.5本章小结.......................................................................................................23 第3章机械手的建模.............................................................................................25 3.1三维建模软件Solidworks的介绍..............................................................25 3.2 Solidworks建模..........................................................................................26 3.3本章小结......................................................................................................27 第4章机械手二维制图.........................................................................................29 4.1二维绘图软件AutoCAD的介绍..............................................................29 4.2 AutoCAD绘图.........................................................................................29 4.3本章小结......................................................................................................32 第5章Adams仿真和A
nsys分析..........................................................................33 5.1运用Adams对机械手进行仿真模拟.......................................................33 5.1.1 Adams软件介绍.............................................................................33 5.1.2仿真前的准备工作—造型............................................................34 5.1.3 Adams仿真步骤.............................................................................34 5.2对主要承载构件进行有限元分析...........................................................41 5.2.1主要承载构件材料及特性............................................................41 5.2.2底座的有限元分析........................................................................42 5.3本章小结...................................................................................................44 参考文献................................................................................................................45 致谢........................................................................................................................47 译文和原文.............................................................................................................49 摘要 由于焊接工作的需要，人们经常遭受腐蚀、高温及有毒气体等因素的危害，不仅工人的劳动强度大，而且危及生命，因此焊接机械手孕育而生。它代替焊工自动化完成各种焊接任务，一方面使工人的劳动条件得到改善，另一方面，焊接机械手焊接质量稳定且大大提高劳动生产率。所以焊接机械手的应用及发展前景巨大。 本文从以下五个部分阐述此次设计的内容： （1）了解机械手的概念、简史、现状和未来发展，明确设计机械手的实际意义，掌握机械手的基本组成，为设计焊接机械手做好相应的准备工作。 （2）对焊接机械手进行总体方案设计，包括自由度的确定、驱动机构即电机的选择、传动形式的确定、执行机构的设计等。 （3）运用solidworks软件对焊接机械手进行三维实体建模，全部零件建模后虚拟装配。 （4）基于solidworks软件“导入工程图”功能，在AutoCAD软件中中完成对典型零件和总装配体的二维图绘制。 （5）在ADAMS软件中对简化的机械手模型进行运动仿真，并在solidworks中完成对主要承载构件的有限元分析。 （6）完成20000字符以上的相关英文资料翻译。 关键词：四自由度焊接机械手；结构设计；三维建模；运动仿真；有限元分析 ABSTRACT To do solderi
ng work, people ofte
n suffer corrosio
n, high tempreture ，poiso
nous gas a
nd some other damages. Labors have to bear high i
nte
nsity work a
nd it is da
ngerous for their lives. That is the reaso
n for ge
neratio
n of weldi
ng ma
nipulator.The weldi
ng ma
nipulator ca
n fi
nish weldi
ng missio
ns automatically. O
n the o
ne ha
nd,it improves labors' worki
ng e
nviro
nme
nt. O
n the other ha
nd, it also keeps a high quality of weldi
ng a
nd promotes effecie
ncy. So There is a good developme
nt prospect for the weldi
ng ma
nipulator. This thesis co
nsists of five chapters to state the desig
n: (1) I
ntroduce weldi
ng ma
nipulator's defi
nitio
n, ge
neral history, curre
nt situatio
n a
nd developme
nt prospect. Co
nfirm the pratical purpose of desig
ni
ng weldi
ng ma
nipulators .U
ndersta
nd its basic parts. Prepare for the desig
n. (2) Take a ge
neral desig
n for the weldi
ng ma
nipulator, i
ncludi
ng freedom level, drivi
ng macha
nism, type of belt drive, actuator a
nd so o
n. (3) Build a solid model of weldi
ng ma
nipulator by solidworks. Make a virtual assembly after buildi
ng all eleme
nts' model (4) Based o
n solidworks software "import e
ngi
neeri
ng drawi
ng " fu
nctio
n, do
ne i
n AutoCAD software for typical parts a
nd assembly of 2 d graph. (5) I
n the ADAMS software to motio
n simulatio
n for a simplified mecha
nical model i
n solidworks a
nd complete fi
nite eleme
nt a
nalysis of the mai
n beari
ng compo
ne
nts. (6) Complete tra
nslati
ng E
nglish materrial which is more tha
n 20000 words. Keywords: Four degrees of freedom of weldi
ng ma
nipulator; Structure desig
n; 3 d modeli
ng; Motio
n simulatio
n; The fi
nite eleme
nt a
nalysis