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四自由度船用焊接机械手设计与仿真

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四自由度船用焊接机械手设计与仿真

目录
摘要I
ABSTRACT II
第1章绪论1
1.1机械手的简介1
1.2机械手的简史.................................................................................................2
1.3机械手的组成................................................................................................4
1.3.1执行机构...............................................................................................4
1.3.2驱动机构...............................................................................................6
1.3.3控制系统及其分类...............................................................................6
1.4机械手的发展趋势........................................................................................6
1.5机械手的自由度和座标型式........................................................................8
1.5.1机械手的自由度...................................................................................8
1.5.2座标型式...............................................................................................8
1.6机械手的展望.............................................................................................,10
1.7本章小结......................................................................................................11
第2章焊接机械手的总体设计方案.....................................................................13
2.1方案设计......................................................................................................13
2.1.1方案要求.............................................................................................13
2.1.2设计方案的确定.................................................................................14
2.2传动结构设计与分析..................................................................................16
2.2.1腰部传动机构....................................................................................16
2.2.2大臂传动机构....................................................................................17
2.2.3小臂和焊枪夹具传动机构................................................................18
2.3执行机构的设计与分析.............................................................................19
2.3.1腰部....................................................................................................19
2.3.2大臂....................................................................................................21
2.3.3小臂......................................................................................................21
2.4整体设计方案示意图..................................................................................22
2.5本章小结.......................................................................................................23
第3章机械手的建模.............................................................................................25
3.1三维建模软件Solidworks的介绍..............................................................25
3.2 Solidworks建模..........................................................................................26
3.3本章小结......................................................................................................27
第4章机械手二维制图.........................................................................................29
4.1二维绘图软件AutoCAD的介绍..............................................................29
4.2 AutoCAD绘图.........................................................................................29
4.3本章小结......................................................................................................32
第5章Adams仿真和Ansys分析..........................................................................33
5.1运用Adams对机械手进行仿真模拟.......................................................33
5.1.1 Adams软件介绍.............................................................................33
5.1.2仿真前的准备工作—造型............................................................34
5.1.3 Adams仿真步骤.............................................................................34
5.2对主要承载构件进行有限元分析...........................................................41
5.2.1主要承载构件材料及特性............................................................41
5.2.2底座的有限元分析........................................................................42
5.3本章小结...................................................................................................44
参考文献................................................................................................................45
致谢........................................................................................................................47
译文和原文.............................................................................................................49

摘要
由于焊接工作的需要，人们经常遭受腐蚀、高温及有毒气体等因素的危害，不仅工人的劳动强度大，而且危及生命，因此焊接机械手孕育而生。它代替焊工自动化完成各种焊接任务，一方面使工人的劳动条件得到改善，另一方面，焊接机械手焊接质量稳定且大大提高劳动生产率。所以焊接机械手的应用及发展前景巨大。
本文从以下五个部分阐述此次设计的内容：
（1）了解机械手的概念、简史、现状和未来发展，明确设计机械手的实际意义，掌握机械手的基本组成，为设计焊接机械手做好相应的准备工作。
（2）对焊接机械手进行总体方案设计，包括自由度的确定、驱动机构即电机的选择、传动形式的确定、执行机构的设计等。
（3）运用solidworks软件对焊接机械手进行三维实体建模，全部零件建模后虚拟装配。
（4）基于solidworks软件“导入工程图”功能，在AutoCAD软件中中完成对典型零件和总装配体的二维图绘制。
（5）在ADAMS软件中对简化的机械手模型进行运动仿真，并在solidworks中完成对主要承载构件的有限元分析。
（6）完成20000字符以上的相关英文资料翻译。

关键词：四自由度焊接机械手；结构设计；三维建模；运动仿真；有限元分析

ABSTRACT
To do soldering work, people often suffer corrosion, high tempreture ，poisonous gas and some other damages. Labors have to bear high intensity work and it is dangerous for their lives. That is the reason for generation of welding manipulator.The welding manipulator can finish welding missions automatically. On the one hand,it improves labors' working environment. On the other hand, it also keeps a high quality of welding and promotes effeciency. So There is a good development prospect for the welding manipulator.
This thesis consists of five chapters to state the design:
(1) Introduce welding manipulator's definition, general history, current situation and development prospect. Confirm the pratical purpose of designing welding manipulators .Understand its basic parts. Prepare for the design.
(2) Take a general design for the welding manipulator, including freedom level, driving machanism, type of belt drive, actuator and so on.
(3) Build a solid model of welding manipulator by solidworks. Make a virtual assembly after building all elements' model
(4) Based on solidworks software "import engineering drawing " function, done in AutoCAD software for typical parts and assembly of 2 d graph.
(5) In the ADAMS software to motion simulation for a simplified mechanical model in solidworks and complete finite element analysis of the main bearing components.
(6) Complete translating English materrial which is more than 20000 words.

Keywords: Four degrees of freedom of welding manipulator; Structure design; 3 d
modeling; Motion simulation; The finite element analysis