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3—DOF平面關節型機械手

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更新時間：2014-04-21
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摘要
　　　隨著機器人在各個領域應用的日益廣泛，許多場合要求機器人具有力控制的能力。此次設計是針對回轉殼體內自動粘貼膠片的任務，設計一個3—DOF平面關節型機械手（包括1個移動關節，2個轉動關節和末端執行機構），配合殼體驅動系統來實現此任務。在機械手工作過程中，通過伺服電機帶動絲杠轉動，從而來完成機械手水平方向的移動，旋轉關節1通過鏈傳動來完成平面內的旋轉動作，旋轉關節2直接在伺服電機的驅動下完成平面內的旋轉動作，這樣機械手可以伸入口徑較小的回轉殼體內完成粘貼膠片的任務。
　　　本次設計工作首先對機械手進行了運動學分析（包括運動學方程的建立，運動學方程的正問題、逆問題及其解）。設計內容包括機械手的移動關節、旋轉關節的結構設計，傳動部分的設計等。其中，重點是對伺服進給系統的設計（包括工作臺的設計，絲杠的設計，直線導軌、伺服電機和減速器的選取等）。最后對系統中主要部件的剛度、強度等性能參數進行了計算與校核。

關鍵詞：機械手；自由度；運動學分析；伺服電機；直角減速器

Abstract

With the increasing application of robot in various industrial fields, it is requested that robot has the ability to control power. According to the contact task of rotary hull, a 3-DOF robot manipulator is designed in order to accomplish sticking of the colloid. The robot manipulator consists of a transfer joint and two revolute joints and robot end-effector. The robot manipulator could realize the contacting task combining with the driving system of rotary hull. The concrete processing comprising of driving screw transmission with the servo motor. In this way, robot manipulator could complete movement in horizontal direction, the revolute joint could be able to accomplish revolute motion of two dimension-space through a chain driving, the revolute joint of end-effector completes directly revolute motion with the servo motor.
Firstly, this design has been carried on the kinematics’ analysis in order to the manipulator, which consists of including the establishment of kinematics equation, the positive solutions of the kinematics equation, the corresponding inverse solutions. Secondly, the transfer joint, revolute joint and the transmission part are designed. The important part is the design of servo feeding system, which consists of the design of the platform and the screw, the selection of linear guide way, servo motor and reducer, etc. Finally, the corresponding calculations are done considering the system's main guide line such as components stiffness, strength and other performance parameters.

Keywords: Robot manipulator；Freedom；Kinematics analysis；Servo motor；Right-angle reducer
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