摘要
    本次设计的题目是送料机械手的设计，首先对送料机械手的工况进行分析，此多工位专用机械手完成小臂上下俯仰、大臂正反向回转、行走装置进退三个自由度，以及手爪的开启和闭合等动作，然后给出该送料机械手的液压系统的电磁元件动作循序表和液压系统原理图。
本械手由大臂结构，小臂、旋转结构和驱动机构组成，该设计能实现三个自由度，分别为手爪的开合，旋转，小臂的上下摆动以及大臂的旋转等等功能。
关键词：送料机械手；液压系统；自由度；功能
  Abstract

    This graduation project mainly had the CA18 control engine bed and the programming introduction, the ear components tech nological analysis craft parameter choice cutting tool choice, the components procedure manual establishment, the procedure simulation, the modelling and the entity simulation processing finally has made the design summary,the acknowledgment language, the reference tabulation and the appendix.Article primary coverage for components craft analysis.
    This components manual programming, but also has to make engineer's modelling and the entity simulation processing.Used the circular arc interpolation instruction in the components manual programming; drill hole; M98 transfer subroutine instruction.
Key words: auto-focus;Industrial robot ;degrees of freedom ;fucation
 目 录