《五自由度液压搬运机械手设计》-毕业论文（设计）.doc

哈尔滨工业大学工学硕士学位论文 - PAGE II - - 五自由度液压搬运机械手设计 摘要 本设计的内容是对五自由度液压搬运机械手的总体外形进行设计，运动范围进行规划，运动路线的调整，及其本机械手的驱动系统进行设计，液压路线图中的所用原件进行精心选取，之后进行油路的设计，首先，本任务书对机械手在现代社会中的作用以及现在的发展现状进行了简单介绍，其中还包括了机械手的研究意义，机械手相比于人手所具有的一系列优点。对总体方案进行了设计，确定设计一种五自由度搬运机器手，包括机器手的总体设计，移动方式设计，动作规划设计，三维造型设计等。其次，对机械手本身的一些基本技术参数进行了确定，并且初步规划出了总体外观简图，用AUTOCAD软件绘制了液压原理图，此原理图的各个原件的选取在后来的计算中得以确定，然后在第4章进行了各个部分的具体计算，其中包括了手部夹持器的计算，腕部回转油缸计算，小臂结构的的设计，俯仰缸的伸缩数据的确定，大臂回转油缸的设计，大臂升降机构的设计，手部驱动油缸油孔尺寸计算，腕部回转油缸油孔尺寸确定，大臂回转油缸油孔尺寸确定，大臂升降油缸油孔尺寸确定，伸缩臂油缸油孔尺寸确定，在各个油缸选定之后，现在可以对油缸活塞杆进行校核，第5章对活塞杆进行了校核，其中包括手部驱动油缸活塞杆校核，腕部回转油缸活塞杆校核，伸缩油缸活塞杆校核，俯仰油缸活塞杆校核。最后，在各个数据最终确定后，本设计还对机械手的三维效果图在第6章进行了绘制。 关键词　机械手；五自由度；搬运；液压 The design of five freedom degrees hydraulic porterage machine hand Abstract The contents of this design is the total shape that transports a machine hand to five freedom degrees hydraulic to carry on a design, exercise the scope carry on a programming, sport route of adjustment, and it originally driving of machine hand the system carry on designing, the component used in the hydraulic route diagram carries on with meticulous care selection, after carry on the design of oil road, first, this task book to machine hand at modern social in of function and the development present condition in nowadays carried on simple introduction and still included the research meaning of machine hand among them, machine palm reading compare at a series of advantage had by hand.Carried on a design to the total project, made sure to design a kind of five freedom degrees porterage machine hand, including the total design of machine hand, move a way design, the action programed a design, the 3D shape designs etc..Carried on an assurance to some basic technique parameters of the machine hand secondly, and the first step programed total external appearance sketch plan, drew hydraulic principle with the AUTOCAD software diagram, this the selection of each component of the principle diagram can make sure in the later calculation, then as for concrete calculatio