摘要本文將設(shè)計(jì)一部三自由度的工業(yè)機(jī)械手，可以實(shí)現(xiàn)機(jī)械手的上下移動(dòng)，平面伸縮移動(dòng)以及回轉(zhuǎn)運(yùn)動(dòng)。用于給設(shè)備運(yùn)送物料。介紹機(jī)械手的作用，機(jī)械手的組成和分類，說明了自由度和機(jī)械手整體座標(biāo)的形式。分析搬運(yùn)機(jī)械手的設(shè)計(jì)理論與方法。全面分析搬運(yùn)機(jī)械手的手部、手臂以及機(jī)身等主要部件的結(jié)構(gòu)設(shè)計(jì)，本文將分析計(jì)算機(jī)械手的手部，臂部，機(jī)身的結(jié)構(gòu)，然后選擇合適的傳動(dòng)方式、驅(qū)動(dòng)方式，搭建機(jī)械手的結(jié)構(gòu)平臺(tái)。關(guān)鍵詞：機(jī)械手，液壓傳動(dòng)，液壓缸ThedesignoflightstablemotiontransportsmanipulatorAbstractInthispaperIwilldesignanindustrialrobotwiththreeDOFs,whichisusedtocarrymaterialforapunch.Thepaperintroducesthefunction,composingandclassificationofthemanipulator,tellsoutthefree-degreeandtheformofcoordinate.Thisarticlesystemelaborationindustrymanipulatorsdesigntheoryandmethod.Thecomprehensiveexhaustivediscussionhastransportedmanipulatorshand,thewrist,thearm，thefuselageandsoon,whichthemajorstructuraldesigncomputation.thenchooseproperdrivemethodandtransmissionmethod,buildingthemechanicalstructureoftherobot.KEYWORDS:manipulator，hydraulicpowertransmission，Hydrauliccylinder目錄1緒論11.1機(jī)械手的簡(jiǎn)史11.2機(jī)械手的分類11.3機(jī)械手的組成11.3.1執(zhí)行機(jī)構(gòu)21.3.2驅(qū)動(dòng)機(jī)構(gòu)21.3.3控制系統(tǒng)32機(jī)械手的總體設(shè)計(jì)方案32.1數(shù)據(jù)參考32.2機(jī)械手工作要求32.3機(jī)械手坐標(biāo)形式選擇43機(jī)械手的手部設(shè)計(jì)計(jì)算43.1選擇手抓的類型及夾緊裝置43.2夾緊力與驅(qū)動(dòng)力的計(jì)算53.3手抓夾持范圍計(jì)算83.4機(jī)械手手抓夾持精度的分析計(jì)算84機(jī)械手的臂部設(shè)計(jì)計(jì)算94.1臂部設(shè)計(jì)的基本要求104.2手臂的典型運(yùn)動(dòng)機(jī)構(gòu)114.3臂部設(shè)計(jì)計(jì)算114.3.1做水平伸縮直線運(yùn)動(dòng)的液壓缸的驅(qū)動(dòng)力114.3.2液壓缸的工作壓力和結(jié)構(gòu)的確定135機(jī)械手機(jī)身的設(shè)計(jì)計(jì)算145.1機(jī)身的整體設(shè)計(jì)145.2機(jī)身回轉(zhuǎn)機(jī)構(gòu)的設(shè)計(jì)計(jì)算155.2.1回轉(zhuǎn)驅(qū)動(dòng)力矩的計(jì)算155.2.2回轉(zhuǎn)油缸尺寸的初步確定165.3機(jī)身升降機(jī)構(gòu)的設(shè)計(jì)計(jì)算175.3.1手臂偏重力矩的計(jì)算175.3.2升降不自鎖的條件分析計(jì)