本文设计了一个机械手。与传统的电动机械手相比，本文采用气压控制，因为气动机器人可以承载较重的物体。本文使用AutoCAD技术设计机械手的结构并设计空气传输的原理。 Solidworks 3D软件对机械手执行3D实体建模，并以可视方式显示机械手的结构布局和零件。
这种设计的机械手可以实现物料的抓取，旋转，伸缩，提升和翻转，以确保将物料输送到指定位置。通过控制移动速度，可以满足生产效率的要求。
Design of 3-DOF Pneumatic Manipulator
Ming Yan
(Mechanical & Electrical Engineering College of Shandong Agricultural University, Tai’an, Shandong 271018)
Abstract：Manipulator is an automatic product to replace manual handling by using robot motion trajectory. The manipulator can be equipped with different end effectors to complete the processing of various shapes and states of workpieces, thus greatly reducing the heavy manual labor of human beings.
More than 100000 manipulators are used in the world. They are widely used in automatic loading and unloading of machine tools, automatic production lines of stamping machines, automatic assembly lines, palletizing and loading and unloading as well as automatic loading and unloading of containers.
This paper designs a manipulator. Compared with the traditional electric manipulator, pneumatic control is adopted in this paper, because pneumatic robot can carry heavy objects. This paper uses AutoCAD Technology to design the structure of manipulator and the principle of air transmission. SolidWorks 3D software performs 3D solid modeling for manipulator, and displays the structure layout and parts of manipulator visually.
This kind of manipulator can grasp, rotate, stretch, lift and flip the material to ensure that the material is transported to the designated position. By controlling the moving speed, the requirements of production efficiency can be met.
Keywords: manipulator; AutoCAD; SolidWorks; pneumatic system; structural design
1前言
1.1课题背景
机械手是可以执行自动化处理操作的工业机器人。处理是指使用一种设备固定工件，这是指从一个加工位置移动到另一加工位置。该机械手可以配备不同的末端执行器，以完成各种形状和状态的工件的处理，从而大大减少了人类的繁重体力劳动。全球使用的机械手超过100,000，广泛用于机床的自动装卸，冲压机的自动生产线，自动装配线，码垛和装卸以及容器的自动装卸。一些发达国家已经制定了最大的人工处理方法，超出限制的必须由机械手完成。
