摘 要
本课题是为普通车床配套而设计的四自由度通用机械手。工业机械手是工业生产的必然产物，它是一种模仿人体上肢的部分功能，按照预定要求输送工件或握持工具进行操作的自动化技术设备，对实现工业生产自动化，推动工业生产的进一步发展起着重要作用。因而具有强大的生命力受到人们的广泛重视和欢迎。实践证明，工业机械手可以代替人手的繁重劳动，显著减轻工人的劳动强度，改善劳动条件，提高劳动生产率和自动化水平。工业生产中经常出现的笨重工件的搬运和长期频繁、单调的操作，采用机械手是有效的。此外，它能在高温、低温、深水、宇宙、放射性和其他有毒、污染环境条件下进行操作，更显示其优越性，有着广阔的发展前途。
本课题通过应用AutoCAD 技术对机械手进行结构设计和液压传动原理设计。它能实行自动上料运动；在安装工件时，将工件送入卡盘中的夹紧运动等。上料机械手的运动速度是按着满足生产率的要求来设定。
关键词 机械手；四自由度；液压传动
Abstract
This topic is for general lathe designed to support general-purpose four-DOF manipulator. Industrial robot is an inevitable product of industrial production, it is a part of imitating the human upper limb function, according to requirements of holding a workplace or tool carrier to operate the automation technology equipment, automation of industrial production, and promote the further development of industrial production plays a an important role. Has a great vitality and thus be widely valued and welcomed. Practice has proved that the industrial robot can replace the heavy manual labor, significantly reduced labor intensity and improve working conditions and raise the level of labor productivity and automation.
That often appear in industrial production of heavy workplace handling and long-term frequent monotonous operations, the use of mechanical hand to be effective. In addition, it can at a high temperature, low temperature, Sham Shui Po, the universe, radioactive and other toxic pollution of the environment under the conditions of operation, but also to demonstrate its superiority, has broad prospects.
AutoCAD this issue through the application of robot technology to design and structural design of hydraulic principle. It is expected the implementation of automatic movement; in the installation of the workplace when the workplace clamping disk into cards and other sports. Feeding velocity of the robot is to meet the productivity requirements according to configure.
