小型圆柱坐标机械手的设计

长春大学毕业设计（论文）纸电Movement Design of the Personification Robot[Abstract]The manipulator can imitate the hand and arm's certain movement function,bythe fixed procedure crawl,carries the object or the operation tool automatic operationdevice.Industrial robot manipulator is the earliest,is the earliest of the modern robot,it canreplace human labor to realize the mechanization and automation of production,can电operate in order to protect the personal safety in harmful environment.By the design of the cylindrical coordinate manipulator with 3 degrees of freedom,装namely,the motion of the arm by a lifting linear motion joint(Zhou Xiang),a radial linearmotion joint and a circle rotation movement of the joint assembly (Zhou Xiang).Thelifting cylinder,telescopic cylinder and rotary cylinder are used to realize the movement.Adopt the sucking disc of the vacuum in the hand of the manipulator,connect the订Venturi tube type vacuum generator.Is it compress air in pipeline fast through produceprinciple of vacuum hold the work piece to utilize.According to calculating and choosingthe suitable vacuum generator.Design flexible jar that adopt and hoist or lower whom jar adopt have two cylinder线rod dual cylinder rod air cylinder this time,side by side at the same cylinder block.Thestructure of selecting the rotary cylinder for use and putting under hoisting or lower the jar,rigidity is better.It is suitable to choose the air cylinder to as requested calculate thedriving force of the air cylinder and gyration moment.Originally design and adopt the pneumatic system of urging.Use the reversing returncircuit of air cylinder of a pair of function,control two-way sports of the piston with twoautomatically controlled valves five times.The electric control system adopts PLC Mitsubishi Company F1 series PC(F1-40MR )input:X400-X407,X500-X505 has 14 points altogether.Export:Y430-Y437 has 8 points altogether.The movement order of the manipulator is:Normal position--Decline --Hold--Rise--Move to right--Turn round on the left--Decline--Unclamp --Rise--Turn round inright--Move to left--Restored to the throne.[Keywords]Personification robot Three-dimension shaping Mobile simulationControl system