毕业设计设计题目棒料抓装机械手的设计PAGE\*MERGEFORMAT22目录TOC\o"1-2"\h\z\uHYPERLINK\l"_Toc353442554"中文摘要3HYPERLINK\l"_Toc353442555"英文摘要4HYPERLINK\l"_Toc353442556"第一章绪论5HYPERLINK\l"_Toc353442557"1.1工业机械手PAGEREF_Toc353442557\h5HYPERLINK\l"_Toc353442558"1.1.1工业机械手概述PAGEREF_Toc353442558\h5HYPERLINK\l"_Toc353442559"1.1.2选题背景PAGEREF_Toc353442559\h6HYPERLINK\l"_Toc353442560"1.1.3设计目的PAGEREF_Toc353442560\h6HYPERLINK\l"_Toc353442561"1.2机械手的组成和分类PAGEREF_Toc353442561\h7HYPERLINK\l"_Toc353442562"1.2.1机械手的组成PAGEREF_Toc353442562\h7HYPERLINK\l"_Toc353442563"1.2.2机械手的分类PAGEREF_Toc353442563\h10HYPERLINK\l"_Toc353442564"1.3国内外发展状况PAGEREF_Toc353442564\h12HYPERLINK\l"_Toc353442565"1.4课题的主要要求PAGEREF_Toc353442565\h13HYPERLINK\l"_Toc353442566"第二章手部结构PAGEREF_Toc353442566\h14HYPERLINK\l"_Toc353442567"2.1手部结构设计PAGEREF_Toc353442567\h14HYPERLINK\l"_Toc353442568"2.1.1概述PAGEREF_Toc353442568\h14HYPERLINK\l"_Toc353442569"2.2手部计算PAGEREF_Toc353442569\h16HYPERLINK\l"_Toc353442570"2.2.1驱动力的计算PAGEREF_Toc353442570\h16HYPERLINK\l"_Toc353442571"2.2.2夹紧缸驱动力计算PAGEREF_Toc353442571\h18HYPERLINK\l"_Toc353442572"2.3两支点回转式钳爪的定位误差的分析PAGEREF_Toc353442572\h18HYPERLINK\l"_Toc353442573"第三章腕部结构PAGEREF_Toc353442573\h19HYPERLINK\l"_Toc353442574"3.1腕部的结构设计PAGEREF_Toc353442574\h19HYPERLINK\l"_Toc353442575"3.1.1概述PAGEREF_Toc353442575\h19HYPERLINK\l"_Toc353442576"3.1.2腕部的结构形式PAGEREF_Toc353442576\h20HYPERLINK\l"_Toc353442577"3.2手腕驱动力矩的计算PAGEREF_Toc353442577\h20HYPERLINK\l"_Toc353442578"第四章臂部的结构PAGEREF_Toc353442578\h22HYPERLINK\l"_Toc353442579"4.1臂部设计的基本要求PAGEREF_Toc353442579\h22HYPERLINK\l"_Toc353442580"4.2手臂的典型机构以及结构的选择PAGEREF_Toc353442580\h23HYPERLINK\l"_Toc353442581"4.2.1手臂的典型运动机构PAGEREF_Toc353442581\h23HYPERLINK\l"_Toc353442582"4.2.2手臂运动机构的选择PAGEREF_Toc353442582\h23HYPERLINK\l