设计工业机器人：五自由度圆柱坐标型整体方案及结构设计详解

In the document "Mechanical Arm Cylindrical Coordinate Type Robot Overall Instruction Manual.doc", the design and development of a five-degree-of-freedom cylindrical coordinate industrial robot are detailed. The project aims to design a robot based on the requirements of the workpiece, workspace, and the implementation of various motions. The overall design includes selecting the drive system, determining the drive form and transmission mode of the drive motors, and conducting kinematic analysis of the robot. The design process involves analyzing the various structures, selecting parameters, and calculating the driving force required for the robot hand gripper. The final design includes drawings of the overall structure, base rotation mechanism, and hand gripper mechanism. The base design utilizes a motor output shaft through a harmonic reducer for reduction, followed by a pair of gear reductions to drive the entire waist rotation through the first joint output shaft. This design is compact, stable in operation, and easy to install. The wrist section is driven by a pneumatic motor without the need for a reduction mechanism, providing flexibility in motion and quick response speed. The gripper employs a pneumatic cylinder-driven slide lever mechanism for gripping workpieces. Overall, this document provides a comprehensive overview and summary of the design work for the industrial robot, highlighting key aspects such as industrial robotics, five degrees of freedom, cylindrical coordinates, homogeneous coordinate transformations, and kinematic equations. The design of the robot showcases innovative solutions to meet the requirements of modern industrial applications, showcasing the potential of robotic technology to revolutionize various industries.