学 生：
学 号：***********
专 业：机械设计制造及其自动化
班 级：机电041
指导教师：
四川理工学院机电工程系
二OO八年六月
摘 要
随着工业自动化发展的需要，机械手在工业应用中越来越重要。文章主要叙述了机械手的设计计算过程 。
硅酸铝耐火纤维毡>牙疳药首先，本文介绍机械手的作用，机械手的组成和分类，说明了自由度和机械手整体坐标的形式。同时，本文给出了这台机械手的主要性能规格参量。
文章中介绍了搬运机械手的设计理论与方法。全面详尽的讨论了搬运机械手的手部、腕部、手臂以及机身等主要部件的结构设计。手动调速永磁耦合器
最后使用软件对机械手实现运动学仿真。
关键词：机械手；运动仿真；液压传动；液压缸
ABSTRACT
The applying of the manipulators are more and more important in the industry, with the development of industrial automation. The paper mainly narrated the design and calculation of light and transfer manipulator.
The first，The paper introduces the function, composing and classification of the manipulator, tells out the free-degree and the form of coordinate. At the same time, the paper gives out the primary specification parameter of this manipulator.
This article system elaboration industry manipulator's design theory and method. The comprehensive exhaustive discussion has transported manipulator's hand, the wrist, the arm, the fuselage and so on, which the major structural design computation.
余热制冷Finally uses the software to carry out the movement simulation for this manipulator.
防近视笔陶瓷喷嘴Keywords: manipulator; motion simulation; hydraulic power transmission；Hydraulic cylinder
