機械手臂-手腕旋轉軸傳動系統設計

Abstract

本設計作業是以預設之鋼板重量，在計算出的負載下設計出一組可負荷此荷重，且可正常運作的機構，並探討如何選擇合適規格之零件，使其做結合產生連續動作。此設計利用電腦程式分析結合及連動情形，反覆修正不合之數據與空間配置狀況。設計上，先以預設之鋼板重量求出負荷後，計算出所需之減速比並選擇符合規格之馬達規格後，再利用相對應的減速比計算並設計皮帶輪與行星齒輪，最後計算出足夠額定動負荷之軸承來決定軸的整體尺寸，共有三隻軸加上馬達心軸組成此手臂旋轉軸傳動系統並使用定位之零件固定零件位置。

最後必須搭配外殼設計來選擇C型扣環給予固定軸承，才足以構成一部可運作之機械手臂，但本設計作業主要僅設計內部構造。

The goal of project is to design a transmission system of wrist mechanism of robot manipulator based on the given specifications. To ensure the mechanism can operate normally, each component of the system has to be examined by failure theories through careful calculations. Hence the computer programs are used to analyze linkage motion and correct the inconsistent data and space configuration iteratively. First, load analysis is completed based on the required weight of a steel plate. Secondly, the reduction ratio of planetary gear reducer is obtained and the motor, which can supply a proper torque is found. Thirdly, the strength of belt, gears, shafts, bearings are calculated to meet the life requirement. There are three transmission shafts plus one motor spindle to form the arm rotating shaft transmission system. Finally, keys are mounted between the shafts to prevent relative movement of gears in axial and radial directions. In addition, retaining rings are used to hold bearings onto shafts and in a gear box.