"三自由度圆柱坐标工业机器人设计与优化研究"
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本文介绍了一种三自由度圆柱坐标型工业机器人的设计,该机器人可以实现在两个直线方向和一个旋转方向上的工作。在控制器的作用下,它可以执行简单的动作,例如将工件从一条流水线拿到另一条流水线。根据机器人的工作要求和结构特点,进行了机器人的总体设计,确定了机器人的外形尺寸和工作空间,拟定了机器人各关节的总体传动方案。对机器人腰关节结构进行了详细设计,合理布置了电机和齿轮,并确定了各级传动参数。同时进行了齿轮、轴和轴承的设计计算和校核。该机器人具有刚性好,位置精度高、运行平稳的特点。总而言之,本文是对整个设计工作较全面的介绍和总结。 关键词:三自由度,圆柱坐标,工业机器人 Abstract This design for a three dof cylindrical coordinates type industrial robot, capable of working in two straight line directions and a rotating direction. Industrial robots are relatively new electromechanical devices that have the ability to perform simple actions under the control of a controller, such as moving workpieces from one conveyor belt to another. Based on the working requirements and structural characteristics of the robot, the overall design of the robot has been carried out, determining the external dimensions and working space of the robot, as well as the overall transmission scheme for each joint of the robot. A detailed design of the robot's waist joint structure was performed, and the arrangement of motors and gears was rationalized, and the transmission parameters for each stage were determined. Gear, shaft, and bearing design calculations and verifications were also conducted. The robot boasts high rigidity, high positional accuracy, and smooth operation. In conclusion, this paper provides a comprehensive introduction and summary of the entire design work. Keywords: three degrees of freedom, cylindrical coordinates, industrial robot
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