六自由度机械臂设计说明书

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说明书

摘要

为了解放劳动人民的双手，减少劳动强度，从而设计了一种可以代替人们

工作的机械臂。这种机械臂它的控制方法是由机电一体化控制系统进行控制，它

也是目前社会上人们比较关注的重点领域和热点问题。对本课题研究需要多方面

的知识综合应用，才能将其设计出来。要对机械，电子，机电一体化，互联网，

人工智能，电脑的学科知识都有所涉猎。使该设备的发展和进步也促进了整个社

会的进步。本文主要是针对机械臂的结构对其进行设计，并完成三维图和二维图

的绘制。并且要对机械臂工作时的工作环境，受力情况，运动进行仿真分析，以

及它选用的电机以及减速器进行合理的选型。其次要根据所选的电机和减速器的

连接部位进行核对。机械臂的关键结构部位进行强度校核。最后用三维软件对六

自由度机械臂进行建模。在保证精度情况下，能在多样环境下完成操纵能力，能

适应多个自由度，不同环境的作业有不同的机器人工作。

关键词：机械臂；六自由度机械臂；工业机器人；仿真机械臂；机器人；

说明书

Abstract

In order to liberate the hands of the working people and reduce the labor

intensity, a mechanical arm that can replace people's work is designed. The control

method of this kind of mechanical arm is controlled by mechatronics control system,

and it is also a key field and hot issue that people pay more attention to in the society

at present. The research of this subject needs comprehensive application of various

knowledge before it can be designed. Be familiar with the subject knowledge of

machinery, electronics, mechatronics, internet, artificial intelligence and computer.

Make the development and progress of this equipment also promote the progress of

the whole society. In this paper, the structure of the manipulator is designed, and the

3D and 2D drawings are drawn. And it is necessary to simulate and analyze the

working environment, stress and movement of the mechanical arm, and make a

reasonable selection of the selected motor and reducer. Secondly, it should be checked

according to the connection parts of the selected motor and reducer. Check the

strength of the key structural parts of the mechanical arm. Finally, the 6-DOF

manipulator is modeled by 3D software. Under the condition of ensuring the accuracy,

it can complete the manipulation ability in various environments, and can adapt to

multiple degrees of freedom. Different robots work in different environments.

Keywords：manipulator; 6-DOF manipulator; Industrial robot; Simulation

manipulator; robot;

说明书
目   录
摘      要..................................................................................................................1
Abstract..................................................................................................................2
第一章  概述..........................................................................................................1
1 研究背景........................................................................................................1
2 国内外研究状况............................................................................................1
2.1 国内发展状况......................................................................................1
2.2 国外发展状况......................................................................................2
3 研究内容........................................................................................................3
第二章 设计方案的分析与选定...........................................................................4
1 设计方案论述................................................................................................4
1.1 驱动方式..............................................................................................4
1.2 传动系统设计......................................................................................4
1.3 工作范围............................................................................................4
2 机械臂机械传动原理....................................................................................4
2.1 手部....................................................................................................5
2.2 腕部......................................................................................................5
2.3 臂部......................................................................................................5
2.4 底座部件..............................................................................................6
3 机械臂总体方案设计....................................................................................6
3.1 直角坐标机械臂结构..........................................................................6
3.2 圆柱坐标机械臂结构..........................................................................6
3.3 球坐标机械臂结构..............................................................................6
3.4 关节型机械臂结构..............................................................................7
4 机械臂的工作范围确定................................................................................7
第三章 六自由度机械臂主要结构设计及计算.................................................10
1 底座的设计与计算......................................................................................10
2 腰部的设计与计算......................................................................................11
3 大臂的设计与计算......................................................................................12
4 小臂的设计与计算......................................................................................13
5 手腕的设计与计算......................................................................................14
6 手部的设计与计算......................................................................................15
第四章  六自由度机械臂辅助部分设计............................................................17
1 机械臂各关节部件减速器的选型..............................................................17
2 轴结构尺寸设计..........................................................................................17
3 轴的受力分析及计算..................................................................................17
4 轴承的寿命校核..........................................................................................18
5 各轴键和键槽的选择及其校核..................................................................19
6 机身结构的设计..........................................................................................19
6.1 机身箱体材料的选择........................................................................19
6.2 机身的结构设计及制造工艺............................................................19
第五章 六自由度机械臂的三维建模.................................................................21
1 机械装配的基本概念..................................................................................21
1.1 零件....................................................................................................21

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摘要：

说明书摘要为了解放劳动人民的双手，减少劳动强度，从而设计了一种可以代替人们工作的机械臂。这种机械臂它的控制方法是由机电一体化控制系统进行控制，它也是目前社会上人们比较关注的重点领域和热点问题。对本课题研究需要多方面的知识综合应用，才能将其设计出来。要对机械，电子，机电一体化，互联网，人工智能，电脑的学科知识都有所涉猎。使该设备的发展和进步也促进了整个社会的进步。本文主要是针对机械臂的结构对其进行设计，并完成三维图和二维图的绘制。并且要对机械臂工作时的工作环境，受力情况，运动进行仿真分析，以及它选用的电机以及减速器进行合理的选型。其次要根据所选的电机和减速器的连接部位进行核对。机械臂的关键结构部...

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