坐标形式:球坐标

坐标系	抓重	自由度	伸缩X	升降Z
球坐标	250N	4	350mm，<300mm/s	150mm，<300mm/s

 

横移Y	回转φ	俯仰θ	小臂俯仰θ2
250mm，<300mm/s	0°~210°，<90°/s	0°~45°，<90°/s

 

回转ω	手指夹持范围
0°~180°，<90°/s	棒料，直径φ40~φ60，长度450~1200mm

 
摘  要机械手是在在机械化、自动化生产过程中发展的一种新型装置,使用的一种具有抓取和移动工件功能的自动化装置。机械手能代替人类、重复枯燥完成危险工作，提高劳动生产力,减轻人劳动强度。该装置涵盖了位置控制技术可编程控制技术、检测技术等。本课题拟开发的物料球坐标工业机械手可在空间抓放物体，动作灵活多样，根据工件的变化及运动流程的要求随时更改相关参数,可代替人工在高温危险区进行作业，。
 
关键词：机械手, 球坐标工业机械手，抓取，提升

Abstract

The manipulator is a new device developed in the mechanization, automation of production process, a grasping and moving the workpiece function of automation device use. The manipulator can repeat boring to do dangerous work instead of humans,, improve labor productivity, reduce labor intensity. The device covers the position control technology of programmable control technology, detection technology. The material of hydraulic manipulator this subject to the grasping be up in space objects, flexible, any changes to the relevant parameters according to the change and the movement flow requirements, but instead of manual operation in high risk areas,.
Key Words:  manipulator, hydraulic manipulator, crawl, enhance