一種五自由度串聯(lián)機(jī)器人的設(shè)計(jì)【優(yōu)秀課程畢業(yè)設(shè)計(jì)+含SW三維3D建模及47張CAD圖紙+帶任務(wù)書+開題報(bào)告+外文翻譯+33頁加正文1.06萬字】-jxsj14
快捷下載

會(huì)員登錄下載
微信登錄下載
微信掃一掃登錄
友情提示
2、PDF文件下載后,可能會(huì)被瀏覽器默認(rèn)打開,此種情況可以點(diǎn)擊瀏覽器菜單,保存網(wǎng)頁到桌面,就可以正常下載了。
3、本站不支持迅雷下載,請(qǐng)使用電腦自帶的IE瀏覽器,或者360瀏覽器、谷歌瀏覽器下載即可。
4、本站資源下載后的文檔和圖紙-無水印,預(yù)覽文檔經(jīng)過壓縮,下載后原文更清晰。
5、試題試卷類文檔,如果標(biāo)題沒有明確說明有答案則都視為沒有答案,請(qǐng)知曉。
|
一種五自由度串聯(lián)機(jī)器人的設(shè)計(jì)【優(yōu)秀課程畢業(yè)設(shè)計(jì)+含SW三維3D建模及47張CAD圖紙+帶任務(wù)書+開題報(bào)告+外文翻譯+33頁加正文1.06萬字】-jxsj14
<p>一種五自由度串聯(lián)機(jī)器人的設(shè)計(jì)【優(yōu)秀課程畢業(yè)設(shè)計(jì)+含SW三維3D建模及47張CAD圖紙+帶任務(wù)書+開題報(bào)告+外文翻譯+33頁加正文1.06萬字】-jxsj14</p><p>【詳情如下】【需要咨詢購買全套設(shè)計(jì)請(qǐng)加QQ1459919609】</p><p>10 平鍵.dwg</p><p>11 定距環(huán).dwg</p><p>12 端蓋.dwg</p><p>13 同步帶輪.dwg</p><p>14 傘齒輪.dwg</p><p>15油封.dwg</p><p>16 五軸電機(jī)墊片.dwg</p><p>17 二軸電機(jī)轉(zhuǎn)接板.dwg</p><p>18 護(hù)罩.dwg</p><p>19 三軸電機(jī)轉(zhuǎn)接板.dwg</p><p>1一軸減速器.dwg</p><p>2 一軸減速機(jī)入力軸.dwg</p><p>20 四軸電機(jī)轉(zhuǎn)接板.dwg</p><p>21 五軸連接蓋.dwg</p><p>22 油封.dwg</p><p>23 手部連接件.dwg</p><p>24 油封蓋.dwg</p><p>25 連接件.dwg</p><p>26 墊片.dwg</p><p>27 軸.dwg</p><p>28 油封.dwg</p><p>29 軸承.dwg</p><p>3 二軸減速器.dwg</p><p>30 手爪拉桿.dwg</p><p>31 手爪座.dwg</p><p>32 手指.dwg</p><p>33 橡膠軟墊塊.dwg</p><p>34 軸承7003C.dwg</p><p>35 軸承(12-28-7).dwg</p><p>36 LCS-20-80-C-Ⅰ.dwg</p><p>37 LHD-17-80-C-Ⅰ.dwg</p><p>38 LHS-17-50-C-Ⅱ.dwg</p><p>39 小臂連接桶.dwg</p><p>3D.stp</p><p>4 二軸減速機(jī)入力軸.dwg</p><p>40 底座.dwg</p><p>41 小臂支架.dwg</p><p>42 大臂支架.dwg</p><p>43 腕關(guān)節(jié)支架.dwg</p><p>44 肘關(guān)節(jié)支架.dwg</p><p>45 腰部支架.dwg</p><p>5 肘部連接軸.dwg</p><p>6 三軸減速機(jī)入力軸.dwg</p><p>7 三軸減速器TTRV-20E.dwg</p><p>8 五軸諧波減速器.dwg</p><p>9 軸.dwg</p><p>三維圖</p><p>二維圖pdf打印.zip</p><p>五自由度機(jī)器人裝配體.dwg</p><p>外文翻譯.doc</p><p>開題報(bào)告.doc</p><p>文件清單.txt</p><p>文獻(xiàn)綜述.doc</p><p>等軸側(cè).dwg</p><p>設(shè)計(jì)說明書.docx</p><p>摘 要</p><p>本文設(shè)計(jì)了一個(gè)五自由度串聯(lián)機(jī)器人,首先通過計(jì)算得到執(zhí)行端所需要的驅(qū)動(dòng)力矩,再以此為依據(jù)選出該關(guān)節(jié)所需的減速器和伺服電動(dòng)機(jī),設(shè)計(jì)出外殼和關(guān)節(jié)的連接結(jié)構(gòu),繪制3D圖,通過軟件的測(cè)量求出設(shè)計(jì)好的部分重心,求出下一個(gè)關(guān)機(jī)所需的驅(qū)動(dòng)力矩,選出所需的減速器和伺服電動(dòng)機(jī),以此類推最終完成總體設(shè)計(jì),并且繪制了串聯(lián)五自由度機(jī)器人的工程圖。</p><p>關(guān)鍵詞:五自由度 串聯(lián)機(jī)器人 總體設(shè)計(jì) 伺服電動(dòng)機(jī) </p><p>Abstract</p><p>This paper designed a five DOF serial manipulator. First of all, through the calculated execution end driving torque, and this is the basis to select reducer and servo motor which the joint required, then design the shell and joint connection structure by 3D software . through the measurement , design part of the center of gravity for a shutdown required driving torque, select the desired speed reducer and servo motor, and so on. And final?complete the overall design,and made a five DOF serial manipulator engineering drawing.</p><p>Key words: 5-dof serial manipulator overall design Servo motor </p><p>目 錄</p><p>摘 要<span class="Apple-tab-span" style="white-space:pre"> </span>I</p><p>Abstract<span class="Apple-tab-span" style="white-space:pre"> </span>II</p><p>第1章 緒論<span class="Apple-tab-span" style="white-space:pre"> </span>1</p><p> 1.1概述<span class="Apple-tab-span" style="white-space:pre"> </span>1</p><p>1.1.1機(jī)器人定義<span class="Apple-tab-span" style="white-space:pre"> </span>1</p><p>1.1.2機(jī)械手的應(yīng)用簡況<span class="Apple-tab-span" style="white-space:pre"> </span>1</p><p>1.1.3發(fā)展趨勢(shì)<span class="Apple-tab-span" style="white-space:pre"> </span>1</p><p> 1.2研究內(nèi)容<span class="Apple-tab-span" style="white-space:pre"> </span>2</p><p>第2章 搬運(yùn)機(jī)械手結(jié)構(gòu)設(shè)計(jì)<span class="Apple-tab-span" style="white-space:pre"> </span>3</p><p> 2.1 機(jī)械手的組成<span class="Apple-tab-span" style="white-space:pre"> </span>3</p><p> 2.1.1執(zhí)行機(jī)構(gòu)<span class="Apple-tab-span" style="white-space:pre"> </span>3</p><p> 2.1.2驅(qū)動(dòng)機(jī)構(gòu)<span class="Apple-tab-span" style="white-space:pre"> </span>3</p><p> 2.2 機(jī)械手的分類<span class="Apple-tab-span" style="white-space:pre"> </span>3</p><p> 2.3機(jī)械結(jié)構(gòu)設(shè)計(jì)與分析<span class="Apple-tab-span" style="white-space:pre"> </span>4</p><p> 2.4傳動(dòng)、驅(qū)動(dòng)方式的分析與選擇<span class="Apple-tab-span" style="white-space:pre"> </span>4</p><p>第3章 機(jī)器人手部的設(shè)計(jì)<span class="Apple-tab-span" style="white-space:pre"> </span>6</p><p> 3.1手部設(shè)計(jì)要求<span class="Apple-tab-span" style="white-space:pre"> </span>6</p><p> 3.2 驅(qū)動(dòng)力的計(jì)算<span class="Apple-tab-span" style="white-space:pre"> </span>6</p><p> 3.3兩支點(diǎn)回轉(zhuǎn)式鉗爪的定位誤差的分析<span class="Apple-tab-span" style="white-space:pre"> </span>8</p><p> 3.4 手抓夾持范圍計(jì)算<span class="Apple-tab-span" style="white-space:pre"> </span>8</p><p>第4章 總體設(shè)計(jì)<span class="Apple-tab-span" style="white-space:pre"> </span>10</p><p> 4.1總體設(shè)計(jì)參數(shù)<span class="Apple-tab-span" style="white-space:pre"> </span>10</p><p> 4.2 設(shè)計(jì)原理<span class="Apple-tab-span" style="white-space:pre"> </span>10</p><p> 4.3 傳動(dòng)設(shè)計(jì)<span class="Apple-tab-span" style="white-space:pre"> </span>10</p><p> 4.4 關(guān)節(jié)處設(shè)計(jì)<span class="Apple-tab-span" style="white-space:pre"> </span>11</p><p> 4.5 手臂設(shè)計(jì)<span class="Apple-tab-span" style="white-space:pre"> </span>12</p><p> 4.6 整體設(shè)計(jì)<span class="Apple-tab-span" style="white-space:pre"> </span>13</p><p>第5章 靜力矩估算與電機(jī)、減速器的選擇<span class="Apple-tab-span" style="white-space:pre"> </span>14</p><p> 5.1 電機(jī)、減速器的選擇<span class="Apple-tab-span" style="white-space:pre"> </span>14</p><p> 5.1.1 手腕轉(zhuǎn)動(dòng)<span class="Apple-tab-span" style="white-space:pre"> </span>14</p><p> 5.1.2手臂俯仰<span class="Apple-tab-span" style="white-space:pre"> </span>16</p><p> 5.1.3小臂俯仰<span class="Apple-tab-span" style="white-space:pre"> </span>17</p><p> 5.1.4大臂俯仰<span class="Apple-tab-span" style="white-space:pre"> </span>19</p><p> 5.1.5大臂轉(zhuǎn)動(dòng)<span class="Apple-tab-span" style="white-space:pre"> </span>21</p><p> 5.2手臂的校核計(jì)算<span class="Apple-tab-span" style="white-space:pre"> </span>22</p><p> 5.3軸的校核<span class="Apple-tab-span" style="white-space:pre"> </span>23</p><p>致 謝<span class="Apple-tab-span" style="white-space:pre"> </span>27</p><p>參考文獻(xiàn)<span class="Apple-tab-span" style="white-space: pre;"> </span>28</p><p><img src="http://m.jqnhouse.com/ueditor_s/net/upload/2017-6/14/6363299530035799932606769_1.gif" style="float:none;" title="1一軸減速器.gif"/></p><p><img src="http://m.jqnhouse.com/ueditor_s/net/upload/2017-6/14/6363299530059199974834480_1.gif" style="float:none;" title="2 一軸減速機(jī)入力軸.gif"/></p><p><img src="http://m.jqnhouse.com/ueditor_s/net/upload/2017-6/14/6363299530084160011291437_1.gif" style="float:none;" title="3 二軸減速器.gif"/></p><p><img src="http://m.jqnhouse.com/ueditor_s/net/upload/2017-6/14/6363299530110680065275811_1.gif" style="float:none;" title="4 二軸減速機(jī)入力軸.gif"/></p><p><img src="http://m.jqnhouse.com/ueditor_s/net/upload/2017-6/14/6363299530134080107503523_1.gif" style="float:none;" title="5 肘部連接軸.gif"/></p><p><img src="http://m.jqnhouse.com/ueditor_s/net/upload/2017-6/14/6363299530151240131516082_1.gif" style="float:none;" title="6 三軸減速機(jī)入力軸.gif"/></p><p><img src="http://m.jqnhouse.com/ueditor_s/net/upload/2017-6/14/6363299530173080175216376_1.gif" style="float:none;" title="7 三軸減速器TTRV-20E.gif"/></p><p><img src="http://m.jqnhouse.com/ueditor_s/net/upload/2017-6/14/6363299530194920214214842_1.gif" style="float:none;" title="8 五軸諧波減速器.gif"/></p><p><img src="http://m.jqnhouse.com/ueditor_s/net/upload/2017-6/14/6363299530215200244685891_1.gif" style="float:none;" title="11 定距環(huán).gif"/></p><p><img src="http://m.jqnhouse.com/ueditor_s/net/upload/2017-6/14/6363299530238600286913603_1.gif" style="float:none;" title="14 傘齒輪.gif"/></p><p><img src="http://m.jqnhouse.com/ueditor_s/net/upload/2017-6/14/6363299530260440325912070_1.gif" style="float:none;" title="16 五軸電機(jī)墊片.gif"/></p><p><img src="http://m.jqnhouse.com/ueditor_s/net/upload/2017-6/14/6363299530280720366383119_1.gif" style="float:none;" title="23 手部連接件.gif"/></p><p><img src="http://m.jqnhouse.com/ueditor_s/net/upload/2017-6/14/6363299530302560401083413_1.gif" style="float:none;" title="24 油封蓋.gif"/></p><p><img src="http://m.jqnhouse.com/ueditor_s/net/upload/2017-6/14/6363299530322840435852634_1.gif" style="float:none;" title="25 連接件.gif"/></p><p><img src="http://m.jqnhouse.com/ueditor_s/net/upload/2017-6/14/6363299530343120476323683_1.gif" style="float:none;" title="26 墊片.gif"/></p><p><img src="http://m.jqnhouse.com/ueditor_s/net/upload/2017-6/14/6363299530358720501808824_1.gif" style="float:none;" title="30 手爪拉桿.gif"/></p><p><img src="http://m.jqnhouse.com/ueditor_s/net/upload/2017-6/14/6363299530377440538050628_1.gif" style="float:none;" title="31 手爪座.gif"/></p><p><img src="http://m.jqnhouse.com/ueditor_s/net/upload/2017-6/14/6363299530396160569994260_1.gif" style="float:none;" title="32 手指.gif"/></p><p><img src="http://m.jqnhouse.com/ueditor_s/net/upload/2017-6/14/6363299530419560603221971_1.gif" style="float:none;" title="五自由度機(jī)器人裝配體.gif"/></p><p><img src="http://m.jqnhouse.com/ueditor_s/net/upload/2017-6/14/6363299530486640728148444_1.jpg" style="float:none;" title="三維裝配圖.jpg"/></p><p><img src="http://m.jqnhouse.com/ueditor_s/net/upload/2017-6/14/6363299530553720848373088_1.jpg" style="float:none;" title="三維裝配圖線框圖.jpg"/></p><p><img src="http://m.jqnhouse.com/ueditor_s/net/upload/2017-6/14/6363299530634840981257284_1.jpg" style="float:none;" title="設(shè)計(jì)目錄.jpg"/></p><p><img src="http://m.jqnhouse.com/ueditor_s/net/upload/2017-6/14/6363299530700361102954511_1.jpg" style="float:none;" title="設(shè)計(jì)字?jǐn)?shù)統(tǒng)計(jì).jpg"/></p><p><img src="http://m.jqnhouse.com/ueditor_s/net/upload/2017-6/14/6363299530773681222394309_1.jpg" style="float:none;" title="五自由度機(jī)器人裝配體.jpg"/></p><p><img src="http://m.jqnhouse.com/ueditor_s/net/upload/2017-6/14/6363299530951521541244187_1.jpg" style="float:none;" title="緒論.jpg"/></p><p><br/></p>