机械臂设计毕设计说明书 - 图文

目 录

1 绪论 ························································································································ 1 1.1 前言 ······················································································································· 1 1.2 课题的来源与背景 ······························································································ 1 1.3 研究的目的和意义 ······························································································ 2 1.4 林业集材机的概述 ······························································································ 3 1.5 国内外研究现状及发展趋势 ············································································· 3 1.5.1 国内发展动态及研究现状 ············································································· 3 1.5.2 国外发展动态及研究现状 ············································································· 4 1.6 论文主要研究内容 ······························································································ 5 2 机械臂设计理论 ···································································································· 7 2.1 机械臂的组成及分类 ························································································· 7 2.1.1 机械臂的组成 ·································································································· 7 2.1.2 机械臂的分类 ·································································································· 7 2.2 机械臂的自由度及坐标形式 ············································································· 8 2.2.1 机械臂的自由度 ····························································································· 8 2.2.2 机械臂的坐标形式 ························································································· 8 3 集材机机械臂的总体设计 ················································································· 10 3.1 机械臂的设计参数 ···························································································· 10 3.2 机械臂的结构形式 ···························································································· 10 3.3 机械臂典型部件特点 ······················································································· 10 3.4 机械臂的工作范围 ···························································································· 11 4 集材机工作装置的受力分析 ············································································· 13 4.1 集材机机械臂的工况分析 ··············································································· 13 4.2 集材机机械臂的受力分析 ··············································································· 13 4.2.1 空载时各级臂架所受的弯矩 ······································································· 13 4.2.2 抓举活立木时各级臂架所受弯矩 ······························································ 14 4.3 机械臂连接处的受力分析 ··············································································· 15 4.3.1 主臂铰接处分析 ··························································································· 15 4.3.2 副臂铰接处分析 ··························································································· 15 5