编号江苏电子信息职业学院毕业论文题目一种夹持机械手设计学生姓名学号学院专业班级指导教师顾问教师摘要随着工厂自动化程度越来越高，工厂内使用机械手进行数控装夹物料是十分常见的，本次主要是运用所学理论来设计一个五自由度的机械手，用它来完成工件的自动装夹工作。在设计中使用三维软件进行建模处理，使其直观表达。通过对本机械手的设计与仿真，使得机械手的自由度能够满足实际使用要求，对其自由度使用路径进行设计，并且完成机械手动力传递设计，根据本次的机械手设计，对机械手的使用范围以及转角进行了详细说明，同时通过对传动结构的设计与校核，保证本机械手在使用的过程之中，不会出现使用问题。最后使用仿真软件进行仿真及运动学仿真分析，对其夹持部分结构是否能够满足使用要求进行验证。最后总结该装夹机械手的功能、分类以及使用范围，对机械手的结构有着更为深入的了解后，再次对此关节型机械手的数控装夹进行优化，提高设计技能。通过本次的毕业设计对装夹机械手的结构及重量都进行了相关优化，大大提高了该装夹机械手的使用效果，同时精度、效率也得到了提升。关键词：机械手：结构设计：运动学仿真ABSTRACTWith the increasing degree of automation in the factory,it is very common to usemanipulator to carry out numerical control clamping material.This paper mainly uses thetheory to design a five-degree-of-freedom manipulator,which can be used to complete theautomatic clamping of workpiece.In the design,3D software is used to model and express it intuitively.Through thedesign and simulation of the manipulator,the degree of freedom of the manipulator can meetthe requirements of practical use,the use path of the degree of freedom is designed,and thepower transfer design of the manipulator is completed,according to the design of themanipulator,The scope of use and rotation angle of the manipulator are explained in detail.Design and check the transmission structure to ensure that the manipulator will not be used inthe process.Finally,the simulation and kinematics analysis are carried out with the simulationsoftware to verify whether the clamping part of the structure can meet the requirements.Finally,the function,classification and application range of the manipulator are summarized.After a deeper understanding of the structure of the manipulator,the numerical controlclamping of the joint manipulator is optimized again to improve the design skills.Through this graduation design,the structure and weight of the clamping manipulator areoptimized,which greatly improves the effect of the clamping manipulator and the precision atthe same time.Efficiency has also been improved.Keywords:manipulator;structural design;kinematics simulation