"四自由度圆柱坐标型工业机械手设计与应用研究.pdf"

With the continuous development of society, the application of robots in industrial sites is becoming more and more widespread, using the power of machines to replace human labor, and freeing humanity from heavy physical labor is the trend of historical development. In recent decades, the development of robots has not only become more and more optimized, but also covers many areas, with a wide range of applications. In industry, automatic control systems have wide applications, such as industrial automation machine tool control, computer systems, robots, etc. Industrial robots are relatively new electronic devices that are beginning to change the face of modern industry. The design of this mechanical arm is based on the improvement of labor productivity, product quality, and economic benefits, and the reduction of the labor intensity of workers. Under extremely harsh labor conditions, workers may find it difficult to work manually, so this mechanical arm can be used to replace manual labor. This design is a four-degree-of-freedom cylindrical coordinate type industrial mechanical arm, with working directions in two linear directions and two rotational directions. The four-degree-of-freedom bar material handling mechanical arm in this design is mainly for the handling of circular bars weighing less than 2KG. Depending on the selection of the pneumatic gripper fingers, it can handle bars with a diameter less than 60mm. Under the control of the controller, the mechanical arm performs the simple action of picking up the workpiece from one conveyor line and placing it on another conveyor line, flipping the workpiece in the process. Keywords: four degrees of freedom; mechanical arm; handling; industrial robot.