摘 要

Abstract II

1 绪论 3

1.1复合材料的发展及应用 3

1.2 纤维铺放技术的发展现状 4

1.2.1 国外纤维铺放技术发展现状 4

1.2.2 国内纤维铺放技术发展现状 4

1.3 机械手技术 5

1.4 课题研究的目的及意义 7

2 纤维铺放机械手方案设计 8

2.1 机械手的技术参数 8

2.2 机械手驱动方案设计 9

2.3 腰部方案设计 10

2.4 臂部方案设计 11

2.4.1 肩关节方案设计 11

2.4.2 肘关节方案设计 11

2.5 手腕方案设计 12

3 纤维铺放机械手结构设计 14

3.1 手腕旋转关节设计 14

3.1.1 谐波减速器与电机选型 14

3.1.2 同步带设计 15

3.1.3 锥齿轮传动设计与校核 16

3.1.4 输入轴的设计与校核 17

3.2 手腕摆动关节设计 20

3.2.1 谐波减速器与电机选型 20

3.2.2 同步带设计 21

3.2.3 锥齿轮传动设计与校核 22

3.2.4 传动轴的计算与校核 23

3.3小臂俯仰关节设计 26

3.4大臂俯仰关节设计 27

3.5腰部旋转关节设计 27

3.6 机械手三维结构示意图 29

4 总结与展望 31

参考文献 32

致 谢 33

摘 要

复合材料自上世纪60年代快速发展后，经过几十年的研究，越来越多种类的先进复合材料如雨后春笋般出现。碳纤维复合材料是具有代表性的结构复合材料，它以其可设计性强；高温性能好、密度小；成型性强；比强度、比模量高等优点从众多复合材料中脱颖而出，被广泛应用于生活及军事领域。

纤维复合材料的应用通过铺放手段来实现，纤维铺放技术是目前的先进铺放技术，它是在纤维缠绕成型技术和自动铺带技术的基础上开发出来的。经过了三十年的研究与发展，纤维铺放技术在西方发达国家已经相当成熟，而我国的纤维铺放技术受技术封锁，并且考虑到当时的需求现状，前期发展较慢。尽管这几年纤维铺放技术发展迅速，但仍需我们努力研究与开拓。

机械手是一种具有和人手臂相似的功能，用于完成各种操持工具、搬运作业的自动操作设备。随着我国经济的不断发展， 国家更加重视在工业方面的投入，机械手作为工业生产中举足轻重的工具，对该技术的研究和创新是目前亟待解决的问题。考虑将纤维铺放技术与机械手技术相结合，可以提高铺层的效率、完成复杂构件的曲面铺放，有利于完善我国铺放机系统的性能，实现纤维铺放的智能化。

本设计所要研究的就是在纤维铺放技术的基础上，设计机械手完成纤维铺放功能。基于需要完成的功能和负载要求，本文设计了一种五自由度关节型机械手。首先根据设计要求，提出各个关节设计方案，通过比较后选择符合要求的方案进行结构设计。即根据相关知识对各关节电机和减速器选型，同时完成传动系统的设计与校核。利用CAXA2007绘图软件绘制出所设计的机械手臂的二维图形；利用Solidworks软件进行三维效果图的演示。

关键词：复合材料；纤维铺放；机械手；结构设计

Abstract

Composites material Since the rapid development of the 1960s, after decades of research, more and more types of advanced composite materials mushroomed. Carbon fiber composite material is a representative structural composite material, which can be designed with high strength, good density, small formability, strong specific strength, high specific modulus and so on. It is widely used in many composite materials. Life and military fields.

The application of fiber composite material through the laying of means to achieve, fiber placement technology is the current advanced laying technology, it is in the fiber winding molding technology and automatic paving technology developed on the basis of. After three decades of research and development, fiber laying technology in Western developed countries has been quite mature, and China's fiber placement technology by technology blockade, and taking into account the current demand situation, the early development of slower. Despite the rapid development of fiber laying technology in recent years, we still need to study and develop.

A robot is a function that is similar to a human arm and is used to perform various operating tools and automatic operation equipment for handling operations. With the continuous development of China's economy, the state pay more attention to the investment in the industry, the robot as a pivotal tool in industrial production, the technology research and innovation is the urgent problem to be solved. Considering the combination of fiber laying technology and manipulator technology can improve the efficiency of laying, to complete the surface layout of complex components, is conducive to improving the performance of China's laying machine system to achieve intelligent fiber placement.

This design is to study the fiber laying technology is based on the design of the robot to complete the fiber laying function. Based on the required functions and load requirements, this paper designs a five-degree-of-freedom joint manipulator. First of all, according to the design requirements, put forward the joint design, through the comparison to select the program to meet the requirements of structural design. That is, according to the relevant knowledge of the joint motor and reducer selection, while the completion of the transmission system design and verification. Using CAXA2007 drawing software to draw the design of the robot arm of the two-dimensional graphics; use Solidworks software for three-dimensional renderings of the demonstration.