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黃河科技學院畢業(yè)設計說明書 第 II 頁
小型夾持式機械手及手臂
摘 要
小型夾持式機械手由于可以代替人手，與外界環(huán)境中有毒以及有害的物質(zhì)直接接觸以減少對人的危害，并且具有能不斷重復工作和勞動、不知疲勞、不怕危險、抓舉重物的力量比人手大等特點而受到越來越廣泛的重視。由于本設計要兼顧機械系統(tǒng)和控制系統(tǒng)的要求，因此在機械手液壓控制系統(tǒng)的一般原理上進行了新的設計，并對機械手進行了軌跡規(guī)劃，使它較好的達到了實際的設計要求。鑒于本項目中機械手的機械系統(tǒng)和控制系統(tǒng)的設計與實現(xiàn)工作已經(jīng)基本完成，本文主要側(cè)重于對液壓控制部分的設計工作進行描述。
首先，本文將概述小型夾持式機械手的基本組成和特點，并且闡述了國內(nèi)外研究狀況。
其次，本文將對機械手的總體方案進行設計，并最終確定傳動方案。
再次，本文將詳細闡述機械手的機械系統(tǒng)和液壓控制系統(tǒng)的原理和設計過程。并給出示意圖和圖表加以說明。
最后，本文將對機械系統(tǒng)和控制系統(tǒng)進行有機的結(jié)合，并對小型夾持式機械手及手臂進行了簡單的軌跡規(guī)劃。
關(guān)鍵詞：夾持式，機械手，軌跡規(guī)劃
Small-sized and Holding-styled Mechanical Hand Am
Author :Wu di
Tutor : Yang Hansong
Abstract
The small-sized and holding-styled mechanical hand has been emphasized more and more widely because it can take the place of human hands and therefore avoid the direct touch with toxic and harmful materials to lessen the harm to people; also it can work repeatedly without feeling weary and worrying the dangerous condition; at the same time it has more strength than human hands when snatching heavy goods. This design makes some innovations based on the general principle of the hydraulic pressure control system of mechanical hand to meet the need of mechanical system and control system. Also the design makes projects on tracks for mechanical hand to make it meet the practical design needs better. The paper mainly describes how to design the hydraulic pressure control system because the design and realization of mechanical system and control system has been completed basically in the project.
First, we will expound the basic components and features of the small-sized and holding-styled mechanical hand in this paper; then we summarize the research status home and abroad.
Second, we will design the general schemes for the mechanical hand and then select transmission for the final scheme.
Next we will elaborate on the principle and designing process of the mechanical system and hydraulic pressure control system. Also we give sketch maps and charts to explain.
Finally we combine the mechanical system with the hydraulic pressure control system organically and make simple projects on tracks of the small-sized and holding-styled mechanical hand and arm.
Key words: holding-styled, mechanical hand, projects on tracks