噴涂機器人設(shè)計—機身系統(tǒng)設(shè)計

噴涂機器人設(shè)計—機身系統(tǒng)設(shè)計,噴涂機器人設(shè)計—機身系統(tǒng)設(shè)計,噴涂,機器人,設(shè)計,機身,系統(tǒng) 南 京 理 工 大 學(xué) 畢業(yè)設(shè)計說明書(論文) 作 者: 王一峰 學(xué) 號： 060104240 學(xué)院(系): 機械工程學(xué)院 專 業(yè): 機械工程及自動化 題 目: 噴涂機器人設(shè)計 —機身系統(tǒng)設(shè)計 副教授 郭鋼 指導(dǎo)者： (姓 名) (專業(yè)技術(shù)職務(wù)) 胡小秋 副教授 評閱者： (姓 名) (專業(yè)技術(shù)職務(wù)) 2010年 6 月 畢業(yè)設(shè)計說明書（論文）中文摘要 本文主要介紹的是一種噴涂機器人的總體方案論證與機身系統(tǒng)的設(shè)計。首先根據(jù)技術(shù)要求，確定機器人的結(jié)構(gòu)型式為關(guān)節(jié)型，驅(qū)動方式選擇步進(jìn)電機驅(qū)動，由工作空間計算出大、小臂尺寸，控制方式為開環(huán)連續(xù)軌跡控制，手把手示教。其次設(shè)計了噴涂機器人的機身系統(tǒng)，設(shè)計過程中先選擇了步進(jìn)電機的型號，然后確定傳動方式選擇齒輪傳動帶動腰部轉(zhuǎn)動，其中齒輪傳動為二級圓柱直齒輪減速傳動，并對傳動系統(tǒng)中齒輪、軸、軸承進(jìn)行了設(shè)計與校核。 關(guān)鍵詞 噴涂機器人 機身系統(tǒng) 齒輪傳動 步進(jìn)電機 畢業(yè)設(shè)計說明書（論文）外文摘要 Title Design of a spray painting robot ——Design of the fuselage system Abstract This paper is an overall introduction in conceptual design and study of painting robot, which demonstrates the design of system in certain robot. Firstly under the technical requirements, choose the structure of the robot as articulated robot, stepper motor as driver. Arm size is decided by calculating the working space. Control mode is open-loop control method for the continuous trajectory control, hands-teaching. This is followed by the design of the painting robot systems. In the design process, first the model of the stepper motor is selected, and then the driving mode is determined that is back rotation is driven by transmission gear. Toothed gearing is double-geared spur gear reduced drive. Gear, shaft, bearings in the transmission system is designed and checked. Keywords coating robot Fuselage system Gear-driven stepper motor