球坐标机械手的毕业设计.doc

摘 要 机械手与机械人是二十世纪五十年代以后,伴随着电子技术特别是电子计算机的广泛应用,而迅速发展起来的一门新兴技术。它综合应用了机械、电子、自动控制等先进技术以及物理，生物等学科的基础知识实现机械化与自动化的有机结合。它不仅在工业生产上，而且对宇宙开发，海洋开发，军事工程和生物医学等方面都起着推动的作用，因而日益受到世界许多国家政府，学术团队和科学技术人员的重视，毫无疑问，这门技术将具有广阔的发展前景。 在生产现代化领域里，材料的搬运，机床的上下料，整机的装配等是个薄弱环节。在机械工业部门，这些工序的费用占全部加工费用三分之二以上，而且绝大多数的事故发生在这些工序，自动上下料装置和工业机械手就是为实现这些工序的自动化而采用的。 通用机械手在工业生产中的应用只有二十来年的历史，这种装置在国外得到相当重视，到七十年代，其品种和数量都有很大的发展，并且研制了具有各种感觉器官的机器人。 关键词：机械手 液压缸PLC自由度 控制阀 Abstract Machinery and mechanical hand is the 20th century after the 1950s, accompanied by electronic technology, especially the extensive application of computers and the rapid development of a new and emerging technologies. It comprehensive application of the machinery, electronics, automatic control, and other advanced technology, and physics, biology and other disciplines of basic knowledge of mechanization and automation to achieve the organic integration. It is not only in industrial production, but also the development of the universe, ocean development, military engineering and biomedical and other aspects of the role of promoting the play, thus increasing by many countries in the world government, academic team and the importance of science and technology, there is no doubt that This portal technology will have broad prospects for development. In the field of modern production, material handling, machine tools expected from top to bottom with two of the assembly is a weak link. In the industrial machinery sector, these processes of the total cost of processing more than two thirds of the cost, but the majority of the accidents occurred in these processes, automatic device from top to bottom and industrial machinery is in hand to achieve the automation of these processes used. Universal Manipulator in the industrial production of only 20 coming year history of such devices in foreign countries have attached considerable importance to the 1970s, has great variety and quantity of development and has developed a variety of sensory organ of the so-ca