平面关节型机械手设计—毕业设计

平面关节型机械手设计—毕业设计内容摘要：

ission types The Manual Transmission/MT and the Automatic Transmission/AT are the transmissions presently firmly established in the market . For some years the market has seen the appearance of the Automated Manual Transmission/AMT and the Continuously Variable Transmission/CVT, whose shares in the market are still very small. Manual transmissions are cheap , of relatively small size ,and their spur gears provide good efficiency , Consumption largely depends on the driver’ s shifting style and the vehicle concept. The fort of an automatic transmission is approached through automated shifting and cluthing . More gears snd the conitant enhanced spacing also increase fort . High efficiency ,favorable weight and low cost are factors that ate retained. Traction interruption , associated with automated shifting and regarded as impairing fort , will be reduced in future AMTs by an optimized gearshift process . The powershifting doubleclutch transmission with two separate transmission input shafts is part of this development . Gears are preselected in the loadfree section of the transmission ,gear steps ate changed under full load through controlled trolled torque transfer from the first to the second clutch. Ats have undergone a continuous development process in recent years an have bee even more fortable ,lighter and economical . New gear set fortable , lighter and economical .New gear set concepts and more gear steps will continue this trend . Their very high level of fort ,how ever , is associated with a plex design and a relatively high weight and limited efficiency . Comfortable shifting with the CVT is principlerelated . Acceleration ideally follows the traction hyperbola , The initial engine speed increase fllowed by tinuos transmission ratio variation , how ever ,is new .There is a delay between the initiation of acceleration and the following response . The hydraulically produced frictional connection in the variator , which transfers the torque to the output ,suggests increased consumption . Wide spacing , however ,lowers this for vehicles with manual transmissions. 3. Starting ponents Today ,there basic concepts are available for shifting and starting : . the dry clutch。 . the wet clutch。 . the torque converter。 The dry clutch is known for . its very good efficiency。 . its good controllability。 . its drag torque – free feature: . its relatively small mass moment of inertia . The very good efficiency of the normallyclosed dry clutch is due to the absence of auxiliary power .Other solutions always need pressure and thus additional power in the bridged or closed condition . Wet clutch advantage are : . little mass。 . very small mass moment of inertia。 . very good controllability。 . high power density and great torque capacity. The wet clutch is therefore optimally suited for vehicles with small installation space and very high torque levels. Due to its function as a hydrodynamic hydraulic transmission ,the torque converter with or without slipcontrolled lockup clutch and torsionalvibration damper offers . . efficiency advantages in the nonbridged condition and . and a torque translated by the hydraulic transmission as well as . over load protection 目前的传动系概念 1 发动机的发展 汽油和柴油发动机是目前主要的驱动元件，混合驱动和燃料电池仍处于设计开发阶段尚未占领市场。 新型的喷射技术，如共轨泵喷射，通常被应用于柴油发动机。 它大幅度降低了油耗并由于提高了发动机的转矩和性能改善了动态传动特性。 目前多点直接喷射广泛应用于汽油发动机。 为了满足苛刻的排放法 规，欧洲议会和欧洲汽车工业协会要求在 2020年将新注册的轿车的 CO2排放量在 1995年水平上降低 25%，这需要在近几年内明显降低车辆的能耗和排放，这导致了汽油发动机用传动系的多样化。 直接喷射系统将通过减少排量，发动机增压、机电一体化或机械式阀门配气机构系统及他们的组合占领部分市场。 采用分层进气或容积效率控制的汽油机多气门技术和是发动机工作在高效率区的负荷循环换挡概念将是全分离节气门汽油发动机今后几十年的两大主要技术。 小型化和发动机增压技术在未来几年内将明显提高发动机最大转矩的水平。 2 变速器类型 手动变 速器（ MT）和自动变速器（ AT）是目前变速器市场的主要产品，几年前市场上开始出现机械自动变速器（ AMT）和无级变速器（ CVT），但它们仅占有极小的市场份额。 手动变速器便宜，体积较小、并且圆柱齿轮组的效率很高，能耗主要取决于驾驶员的换挡技术和车辆形式。 自动变速器的舒适性体现在自动换挡和离合器的自动工作上，教多的挡位及相应增加的间距也改善了舒适性，效率高、重量合适和成本底是该类变速器生存的要点。 换挡时存在的牵引力中断现象对舒适性有影响，将来的 AMT 可通过采用优化换挡措施减少之。 有两根对立变速器 输入轴的双离合器动力换挡变速器是 AMT的一个发展方向，它在变速器的无负荷部分进行预换挡，通过控制第一和第二离合器上的转矩转移实现所挂挡位的加载过程。 自动变速器经过这些年的不断发展，已变得更舒适、更轻和更经济。 新型的齿轮组和更多的挡位将继续是其发展趋势。 但是他们非常高的舒适性导致了复杂的设计相对较大的质量和有限的效率。 从理论上讲， CVT 具有很高的换挡舒适性。 其加速度与牵引力的双曲线非常吻合。 然而新问题是发动机起始转速的增加与无级变速器速比变化有关。 这里存在一个起始加速度和其响应之间的滞后，将转矩传递至输出 端时液力产生的摩擦连接会增加能耗。 同时较宽的距离降低了它在手动变速器的车辆上的应用。 3 起动元件 目前有三种不同的换挡和起动形式： 干式离合器 湿式离合器 变矩器 干式离合器具有如下特性： 非常高的效率 良好的控制性能 转矩过载保护特性 转动惯量相对较小 常闭干式离合器的高效率是由于不需要辅助动力的缘故。 其他结构的解决方法常常要在结合或闭合时压力因而辅助动力。 湿式离合器的优点是： 质量小 非常小的转动惯量 非常优秀的控制性能 高的功率密度和大的传扭能力 因此湿式离合器可很好的 适用于那些安装空间小并需传递大传递大转矩的车辆。 变矩器的功能可看成一流体动力的液力变速器，带或不带滑差控制锁止离合器和扭转减振器的变矩器具有如下功能： 未结合时功效好 转矩通过液力变速器传递 过载保护 鸣谢 在这次毕业设计中，我有很多收获，首先把我几年来所学的知识做了一次系统的复习，更深一步了解了所学的知识，培养了我综合运用所学知识，独立分析问题和解决问题的能力，也使我学会怎样更好的利用图书馆，网络查找资料和运用资料，还使我学会如何与同学共同讨论问题。 同时也遇到很多问题，如设计综合考虑不够周全。 但 这对我以后的工作有很大的帮助 ,今后我会在工作中不断的学习 ,努力的提高自己的水平。 最后感谢学校、学院各位老师 4年来给我的教育和培养，特别感谢我的导师给我精心的指导。 参考文献 1. 《工业机器人设计》 周伯英 机械工业出版社 1995 2. 《机器人机械设计》 龚振帮 电子工业出版社 1995 3. 《机构设计》 （日）藤森洋三 机械工业出版社 1990 4. 《机械手图册》（日）加藤一郎 上海科技出版社 1989 5. 《机械设计图册》（ 5）成大先 化学工业出版社 1999 6. 《材料力学》 刘鸿文 高等教育出版社 1991 7. 《机械设计》 濮良贵 纪名刚 高等教育出版社 1995 8. 《机械零件手册》 周开勤 高等教育出版社 1993 平面关节型机械手设计 目录 设计要求 „„„„„„„„„„„„„„„„„„„ 1 摘要 „„„„„„„„„„„„„„„„„„„„„ 2 第 1 章 总体设计 „„„„„„„„„„„„„„„ 2 第 2 章 手指设计 „„„„„„„„„„„„„„„ 4 第 3 章 移动关节设计 „„„„„„„„„„„„„ 6 第 4 章 小臂设计 „„„„„„„„„„„„„„„ 8 第 5 章 大臂设计 „„„„„„„„„„„„„„„ 12 第 6 章 机身设计 „„„„„„„„„„„„„„„ 16 翻译 „„„„„„„„„„„„„„„„„„„„ 17 鸣谢 „„„„„„„„„„„„„„„„„„„„ 22 参考文献 „„„„„„„„„„„„„„„„„„ 22 成绩评定 „„„„„„„„„„„„„„„„„„ 23 设计要求 一、 通过设计平面关节型机械手，培养综合运用所学知识，分析问题和解决问题的能力。 有关资料：上下料搬运机械手， 3 个自由度，平面关节型；需要搬运的工件：环类零件，内孔直径 50mm；高 150mm,厚 10mm,（只能从内孔夹持工件），材料 40 钢，将工件从一条输送线搬运到与之平行的另一条输送线上，（两输送线距离为 ,高度差）。 要求：设计方案和计算正确，叙述。