摘  要

机械手是一种典型的机电一体化产品，锻打机械手是机械手研究领域的热点。研究锻打机械手需要结合机械、电子、信息论、人工智能、生物学以及计算机等诸多学科知识，同时其自身的发展也促进了这些学科的发展。
锻打机械手的定义，世界各国尚未统一，分类也不尽相同。最近联合国国际标准化组织采纳了美国机械手协会给锻打机械手下的定义：锻打机械手是一种可重复编程的多功能操作装置，可以通过改变动作程序，来完成各种工作，主要用于搬运材料，传递工件。参考国外的定义，结合我国的习惯用语，对锻打机械手作如下定义：
锻打机械手是一种机体独立，动作自由度较多，程序可灵活变更，能任意定位，自动化程度高的自动操作机械。是可进行自动喷漆或关节其他涂料的工业机械手。
锻打机械手以刚性高的手臂为主体，与人相比，可以有更快的运动速度，可以搬运更重的东西，而且定位精度相当高，它可以根据外部来的信号，自动进行各种操作。
本文对一种使用在锻打机械手的结构进行设计，并完成总装配图和零件图的绘制。要求对机械手模型进行力学分析，估算各关节所需转矩和功率，完成电机和减速器的选型。其次从电机和减速器的连接和固定出发，设计关节结构，并对机构中的重要连接件进行强度校核。
关键词：  结构设计，机器臂，关节型机械手，结构分析

Abstract

The manipulator is a typical mechatronics product, the forging manipulator is the research focus in the field of mechanical hand. Study on the forging manipulator requires a combination of machinery, electronics, information theory, artificial intelligence, biology, computer and other disciplines of knowledge, at the same time, its development also promotes the development of these disciplines.
The definition of a forging manipulator, the world has not yet unified, classification is not the same. The definition of the international organization for Standardization in recent United Nations adopted the manipulator for forging machinery's: forging manipulator is a kind of multifunction operation device can repeat programming, can be changed by the action program, to complete all kinds of work, mainly used for material handling, transmission parts. The definition of the reference of foreign countries, combined with Chinese idioms, are defined as the forging manipulator:
Forging manipulator is a body independent of the action more degrees of freedom, the program can be flexibly changed to any location, automatic operation, high degree of automation. Is available for industrial manipulator automatic spray paint or other coating joint.
Forging manipulator arm with rigid high as the main body, compared with others, can have faster movement speed, can carry more weight, and the positioning accuracy is very high, it can automatically according to the signal to the outside, to carry out various operations.
In this paper, the design of a structure in the forging manipulator, and draw the general assembly drawing and parts drawing. For the mechanical analysis of the model of the manipulator, the joint estimation of the required torque and power, electrical motor and gear selection. Secondly, from the motor and the reducer is connected and fixed on the design of joint structure, and the connection strength check.
Key Words: structural design, the machine arm, joint type manipulator, structure analysis
目  录