2006- 12-04 2 1: 1 1

Design of industrial manipulator with cylindrical coordinates (complete design and description: papers and drawings)

00 1_ assembly drawing -A0_ level. blueprint

002_ Assembly isometric -A0_ Longitudinal. blueprint

003_ Schematic diagram of manipulator transmission _A4_ Longitudinal. blueprint

004_ Schematic Diagram of Mechanism -A4_ Vertical. blueprint

005_ Workspace Projection _A3_ Vertical. blueprint

006_ gripper drive roller _A4_ landscape. blueprint

007_ Connecting block of piston rod 3 _A4_ Horizontal. blueprint

008_ Foundation _A3_ Vertical. blueprint

Principle of harmonic drive gear. doc

Principle of harmonic propagation. document

00 1_ task book. document

002_ Performance Evaluation Form. document

003_ 1_ graduation design (thesis) book _ cover. document

003_2_ Graduation Design (Thesis) Book _ Directory. document

003_3+4_ Graduation design (thesis) book. document

catalogue

& lt 1 >, abstract

Second, the overall design of industrial manipulator. .........................................................................................................................................................................

I. Motion design and determination of main parameters

Two. Selection of driving system and position detection device

Three. Structural layout requirements

Four. Design method

< the third >, the calculation of the workpiece .............................................................. iv.

& lt 4th > Schematic diagram of industrial robot mechanism.

& ltv >, the structure and design of the end effector .......................................................... 5

I. Design requirements

Second, the structure of elastic manipulator

Three. Calculation of finger clamping force 6

Four. Calculation of finger structure and driving force

Verb (abbreviation of verb) Design and calculation of cylinder

& lt 6 >, the structure and design of forearm ................................................................................... 9

I. Design Requirements 9

Second, the structure of the forearm

Three. Calculation of driving force 9

Four. Design and Calculation of Cylinder ......................................................... 10

Verb (abbreviation of verb) Check the bending stiffness of forearm ......................................... 1 1

& lt 7 >, the structure and design of the boom ........................................................................................................................................................................

I. design requirements ................................................. 1 1

Second, the structure of the boom .............................................. 1 1

Three. Calculation of driving force ............................................. 1 1

Four. Check the stability of the piston rod ......................................................................................................................................................................

Structural design and calculation of waist seat .................................................. 13

First, the problems that should be paid attention to in the design ......................................................................................................................................................................

Second, the structure of the waist seat .......................................................................................................................................................................

Three. Selection and alignment of bearings.

Four. Calculation and Selection of Motor ....................................................... 16

Verb (abbreviation of verb) harmonic reducer and its selection

Refer to ............................. 19.

Abstract: The overall structure of manipulator is designed by SolidWorks 2000. In the design process, using the quality feature tools in SolidWorks to assist the design and calculation of parts' mass, density, volume, center of gravity, inertia principal axis and inertia moment can greatly reduce the complicated calculation and checking steps in the design process.

Keywords: manipulator, SolidWorks, sketch, cylinder, stepping motor, bearing

Abstract: Using SolidWorks 2000 to design the overall structure of the manipulator. The mass, density, volume, center of gravity, spindle inertia and moment of inertia of the parts are calculated by using Solidworks' quality characteristic tools. It can greatly reduce the heavy calculation and verification process in the design process.

Keywords: manipulator, SolidWorks, sketch, cylinder, bearing

refer to

1. Zhou Boying Industrial Robot Design Machinery Industry Press 1995.6.

2. Gong Zhenbang, Robot Mechanical Design, Electronic Industry Press, 1995.

3. (Japan) Fujimori Yozo Design Machinery Industry Press 1990.

4. (Japan) Ichiro Kato Robot Atlas Shanghai Science and Technology Press 1989.

5. Chengda Optical Compilation Mechanical Design Atlas (5) Chemical Industry Press 1999.

6. He Cunxing, edited. Hydraulic Transmission and Pneumatic Transmission, South China University of Technology Press, August 2000.

7. Shenhong Mechanical Engineering Manual (10) Mechanical Industry Press 1987. 10.

8. < Mechanical Designer's Manual > > Compilation, Mechanical Designer's Manual, Mechanical Industry Press, 1989+0.

9. Japan Hydraulic and Pneumatic Association, Hydraulic and Pneumatic Manual, Machinery Industry Press, 1984.438+0438+0.

10. northeast university of technology & gt mechanical parts design manual compilation, metallurgical industry press 19738+02

1 1. Manual of mechanical parts. Higher education press. 1998.3.

12. Shen Lihua Mechanical Design Manual (Software Version) Design and Research Institute of Ministry of Mechanical Industry

13. Wu Zhenbiao, editor-in-chief, Design Guidance for Electromechanical Integration, Zhanjiang Ocean University, March 2002.