摘  要

机械手是一种机械技术与电子技术相结合的高技术产品。采用机械手是提高产品质量与劳动生产率，实现生产过程自动化，改善劳动条件，减轻劳动强度的一种有效手段。它是一种模仿人体上肢的部分功能，按照预定要求输送工件或握持工具进行操作的自动化技术装备。机械手可以代替人手的繁重劳动，显著减轻工人的劳动强度，改善劳动条件，提高劳动生产率和生产自动化水平。工业生产中经常出现的笨重工件的搬运和长期、频繁、单调的操作，采用机械手是有效的；此外，它能在高温、低温、深水、宇宙、放射性和其它有毒、污染环境条件下进行操作，更显示其优越性，有着广阔的发展前途。

本课题的主要内容是采用机械设计原理，进行三自由度搬运机械手的设计，熟悉三自由度机械手的运用场合和相关的设计步骤。机械手可以代替很多重复性的体力劳动，从而减轻工人的劳动强度，提高生产效率。结合三自由度设计的各方面的知识，在设计过程中学会怎样发现问题．解决问题.研究问题。并且在设计中融入自己的想法和构思，提高自己的创新能力。尽力使机械手使用方便，结构简单。

关键词：机械手，输送工件，搬运，三自由度

ABSTRACT

Manipulator is a mechanical technology and electronic technology with the combination of high technology products. Using manipulator is to improve product quality and productivity, and realize the automatic production process, improve working conditions, and reduce labor intensity of a kind of effective method. It is an imitation of the upper part of the human body function, according to the predetermined requirement or parts transportation holding tools for operation of the automation technology and equipment. Robots can replace the hands of heavy labor, significantly reduce the labor intensity, improve working conditions, and improve labor productivity and production automation level. Industrial production often appears in the handling of the heavy and long-term, frequent, drab operation, USES the manipulator is effective; In addition, it can be in high temperature, low temperature, deep water, the universe, radioactive and other toxic, pollution environment conditions operation, more shows its superiority, with broad prospects.

This topic is the main content of the mechanical design principle of the design of the three dof carrying manipulator, familiar with three degrees of freedom of the manipulator using occasions and related design steps. Robots can replace a lot of repeatability of physical labor, so as to reduce the labor intensity, improve production efficiency. Combined with three degrees of freedom all aspects of design knowledge, in the design process learn how to find out the problem to solve problems. And in the design idea and into their idea, improve their innovation ability. Try to make robots easy to use simple structure.

Key Words: Manipulator,  conveying work piece,  handling,  three degrees of freedom

目  录

第1章 绪 论 4

1.1机械手的历史 4

1.2机械手的组成 5

1.3机械手的分类 6

第2章 搬运机械手机构总体方案设计 8

2.1搬运机械手设计要求 8

2.2基本设计思路 1

2.3搬运机械手结构设计 11

2.4 机械手材料的选择 11

2.5机械臂的运动方式 11

2.6搬运机械手驱动与控制系统分析 12

第3章 搬运机械手机械结构设计与计算 13

3.1搬运机械手手爪设计 13

3.2 搬运机械手手臂设计 13

3.3 手部设计计算

3.4腕部设计计算 20

3.5液压驱动系统设计 21

3.6机身结构的设计 23

第4章 机械手控制系统的设计 27

4.1 PLC简介 27

4.2 PLC工作原理 27

4.3 PLC机型的选择 27

4.4 PLC控制面板的拟定 29

4.5 机械手工艺过程和控制方案的确定 30

4.5 PLC程序编写 33

总结与展望 40

参考文献 41

致 谢 42

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