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附一：
毕业设计（论文）档案袋内组成部分
一、毕业设计（论文）册内容与装订顺序：
l 封面；论文题目不得超过20个字，要简练、准确，可分为两行。
l 内容
1、毕业设计（论文）任务书；任务书由指导教师填写，经所在系部审查签字后生效。
2、毕业设计（论文）开题报告；
3、毕业设计（论文）学生申请答辩表与指导教师毕业设计（论文）评审表；
4、毕业设计（论文）评阅人评审表；
5、毕业设计（论文）答辩表；
6、毕业设计（论文）答辩记录表；
7、毕业设计（论文）成绩评定总表；
8、论文：
(1)中文题目与作者；
(2)英文题目与作者；
(3)中文内容摘要和关键词；
(4)英文内容摘要和关键词；
(5)目录；
(6)正文；
(7)致谢；
(8)参考文献及引用资料目录；
(9)附录；
(10)实验数据表、有关图纸(大于3#图幅时单独装订)；
l 封底。
二、英文资料翻译册内容与装订顺序：
l 封面；
l 内容
1、英文原文；
2、中文翻译；
3、阅读书目；
l 封底。
1
毕业设计（论文）任务书
系 部
机械工程系
指导教师
李兆铨
职 称
高工
学生姓名
郑刚
专业班级
05机制本1
学 号
0515011117
设计题目
冲床上下料机械手
设
计
内
容
目
标
和
要
求
设计一个用于冲床（或液压机等）上下料用的机械手，用吸盘抓取的钣金件毛坯或成品件，工件大小和重量自定；机械手驱动方式、运动精度和控制系统根据实际需要选择。但应有3个或3个以上的自由度。
一 设计内容
1.在生产现场测绘一个用机械手上下料的冲压零件，绘制该零件的工作图和工序图。
2.进行机械手设计方案分析（该机械手应有3个或3个以上的自由度），绘制机械手总装配图。
3.进行吸盘的气压传动计算，确定吸盘能抓取工件的形状大小及重量。
4.绘制该机械手的主要零件部件图。如采用液压或气动系统，应画出系统的原理图。
5.撰写设计说明书。
二 设计要求
1.设计必须独立完成，要有创造性，不要照抄照搬实习现场的工艺、工装、设备等.
2.设计绘图工作总量一般不少于2.5A0，其中计算机绘图不少于一张A1。
3.说明书的内容应是围绕本人设计的内容进行分析、计算和论证，不要抄书。说明书内容一般不低于25页。
4.其他有关事宜按院、系有关规定执行。
三 参考资料
工业机械手设计手册 机械工业出版社
机械工程手册（第二版）第9卷 机械工业出版社
指导教师签名：
年 月 日
系 部审 核
此表由指导教师填写 由所在系部审核
2-1
毕业设计（论文）学生开题报告
课题名称
冲床上下料机械手
课题来源
工程实践
课题类型
AX
指导教师
李兆铨
学生姓名
郑刚
学 号
0515011117
专业班级
05机制本1
本课题的研究现状、研究目的及意义
国外机器人领域发展近几年有如下几个趋势:
(1)工业机器人性能不断提高(高速度、高精度、高可靠性、便于操作和维修)，而单机价格不断下降，平均单机价格从91年的10.3万美元降至97年的65万美元。
(2)机械结构向模块化、可重构化发展。例如关节模块中的伺服电机、减速机、检测系统三位一体化:由关节模块、连杆模块用重组方式构造机器人整机;国外已有模块化装配机器人产品问市。
(3)工业机器人控制系统向基于PC机的开放型控制器方向发展，便于标准化、网络化;器件集成度提高，控制柜日见小巧，且采用模块化结构:大大提高了系统的可靠性、易操作性和可维修性。
(4)机器人中的传感器作用日益重要，除采用传统的位置、速度、加速度等传感器外，装配、焊接机器人还应用了视觉、力觉等传感器，而遥控机器人则采用视觉、声觉、力觉、触觉等多传感器的融合技术来进行环境建模及决策控制;多传感器融合配置技术在产品化系统中已有成熟应用。
(5)虚拟现实技术在机器人中的作用已从仿真、预演发展到用于过程控制，如使遥控机器人操作者产生置身于远端作业环境中的感觉来操纵机器人。
(6)当代遥控机器人系统的发展特点不是追求全自治系统，而是致力于操作者与机器人的人机交互控制，即遥控加局部自主系统构成完整的监控遥控操作系统，使智能机器人走出实验室进入实用化阶段。美国发射到火星上的“索杰纳”机器人就是这种系统成功应用的最著名实例。
(7)机器人化机械开始兴起。从94年美国开发出“虚拟轴机床”以来，这种新型装置已成为国际研究的热点之一，纷纷探索开拓其实际应用的领域。我国的工业机器人从80年代“七五”科技攻关开始起步，在国家的支持下通过“七五”、“八五”科技攻关，目前己基本掌握了机器人操作机的设计制造技术、控制系统硬件和软件设计技术、运动学和轨迹规划技术，生产了部分机器人关键元器件，开发出喷漆、弧焊、点焊、装配、搬运等机器人;其中有130多台套喷漆机器人在二十余家企业的近30条自动喷漆生产线(站)上获得规模应用，弧焊机器人己应用在汽车制造厂的焊装线上。但总的来看，我国的工业机器人技术及其工程应用的水平和国外比还有一定的距离，如:可靠性低于国外产品:机器人应用工程起步较晚，应用领域窄，生产线系统技术与国外比有差距;在应用规模上，我国己安装的国产工业机器人约200台，约占全球已安装台数的万分之四。以上原因主要是没有形成机器人产业，当前我国的机器人生产都是应用户的要求，“一客户，一次重新设计”，品种规格多、批量小、零部件通用化程度低、供货周期长、成本也不低，而且质量、可靠性不稳定。因此迫切需要解决产业化前期的关键技术，对产品进行全面规划，搞好系列化、通用化、模块化设计，积极推进产业化进程。我国的智能机器人和特种机器人在“863”计划的支持下，也取得了不少成果。其中最为突出的是水下机器人，6000m水下无缆机器人的成果居世界领先水平，还开发出直接遥控机器人、双臂协调控制机器人、爬壁机器人、管道机器人等机种:在机器人视觉、力觉、触觉、声觉等基础技术的开发应用上开展了不少工作，有了一定的发展基础。但是在多传感器信息融合控制技术、遥控加局部自主系统遥控机器人、智能装配机器人、机器人化机械等的开发应用方面则刚刚起步，与国外先进水平差距较大，需要在原有成绩的基础上，有重点地系统攻关，才能形成系统配套可供实用的技术和产品，以期在“十五”后期立于世界先进行列之中。
课题类型：
（1）A—工程实践型；B—理论研究型；C—科研装置研制型；D—计算机软件型；
E—综合应用型
（2）X—真实课题；Y—模拟课题；
（1）、（2）均要填，如AY、BX等。
2-2
本课题的研究内容
设计一个用于冲床（或液压机等）上下料用的机械手，用吸盘抓取的钣金件毛坯或成品件，工件大小和重量自定；机械手驱动方式、运动精度和控制系统根据实际需要选择。但应有3个或3个以上的自由度。
1.在生产现场测绘一个用机械手上下料的冲压零件，绘制该零件的工作图和工序图。
2.进行机械手设计方案分析（该机械手应有3个或3个以上的自由度），绘制机械手总装配图。
3.进行吸盘的气压传动计算，确定吸盘能抓取工件的形状大小及重量。
4.绘制该机械手的主要零件部件图。如采用液压或气动系统，应画出系统的原理图。
5.撰写设计说明书。
本课题研究的实施方案、进度安排
3.16-3.20 发任务书，收集资料，写开题报告。
3.23-3.27 完成开题报告。
3.30-4.17制定设计方案，设计方案。
4.20-5.15 绘制设计图纸。
5.18-5.24 撰写设计说明书。
6.1-6.8 答辩及整理文摘。
2-3
已查阅的主要参考文献
[1]徐元昌.工业机器人.北京:中国轻工业出版社，1996
[2]张建民.工业机器人.北京:北京理工大学出版社，1988
[3]蔡自兴.机器人学的发展趋势和发展战略.机器人技术，2001, 4
[4]周洪.气动技术的新发展.液压气动与密封，1999, 5
[7]周伯英.工业机器人设计.北京:机械工业出版社，1995
[8]龙立新.工业机械手的设计分析.焊工之友，1999, 3
[9]王承义.机械手及其应用.北京:机械工业出版社，1981
[l0]时圣勇.射流式真空发生器[J ].液压与气动, 1991.
[1l]李哲.冲压床自动上、下料机械手的研制，研究与设计，2001, 5
[12]赵丽萍.气动机械手应用事例分析.上海轻工业高等专科学校学报，1993, 1
[13]严学高，孟正大.机器人原理.南京:东南大学出版社，1992
[14]张新华.冲床自动送料机的原理及设计.锻压技术，1993, 5
[15]机械设计师手册.北京:机械工业出版社，1986
[17]黄锡恺，郑文伟.机械原理.北京:人民教育出版社，1981
[18]成大先.机械设计图册.北京:化学工业出版社，1985
[19]王为，汪建晓.机械设计.武汉：华中科技大学出版社，2006.
[20]左健民.液压与气压传动.北京：机械工业出版社，1995.2
指导教师意见
指导教师签名：
年 月 日
3
毕业设计（论文）学生申请答辩表
课 题 名 称
冲床上下料机械手
指导教师（职称）
李兆铨
申 请 理 由
毕业设计完成
学生所在系部
机械工程系
专业班级
05机制本1
学号
0515011117
学生签名： 郑刚 日期：2009年6月
毕业设计（论文）指导教师评审表
序号
评分项目（理工科、管理类）
评分项目(文科)
满分
评分
1
工作量
外文翻译
15
2
文献阅读与外文翻译
文献阅读与文献综述
10
3
技术水平与实际能力
创新能力与学术水平
25
4
研究成果基础理论与专业知识
论证能力
25
5
文字表达
文字表达
10
6
学习态度与规范要求
学习态度与规范要求
15
总 分
100
评
语
（是否同意参加答辩）
指导教师签名：
另附《毕业设计（论文）指导记录册》 年 月 日
4
毕业设计（论文）评阅人评审表
学生姓名
郑刚
专业班级
05机制本1
学号
0515011117
设计（论文）题目
冲床上下料机械手
评阅人
评阅人职称
序号
评分项目（理工科、管理类）
评分项目(文科)
满分
评分
1
工作量
外文翻译
15
2
文献阅读与外文翻译
文献阅读与文献综述
10
3
技术水平与实际能力
创新能力与学术水平
25
4
研究成果基础理论与专业知识
论证能力
25
5
文字表达
文字表达
10
6
学习态度与规范要求
学习态度与规范要求
15
总 分
100
评
语
评阅人签名：
年 月 日
5
毕业设计（论文）答辩表
学生姓名
郑刚
专业班级
05机制本1
学号
0515011117
设计（论文）题目
冲床上下料机械手
序号
评审项目
指 标
满分
评分
1
报告内容
思路清新；语言表达准确，概念清楚，论点正确；实验方法科学，分析归纳合理；结论有应用价值。
40
2
报告过程
准备工作充分,时间符合要求。
10
3
创 新
对前人工作有改进或突破，或有独特见解。
10
4
答 辩
回答问题有理论依据，基本概念清楚。主要问题回答准确，深入。
40
总 分
100
答
辩
组
评
语
答辩组组长（签字）： 年 月 日
答
辩
委
员
会
意
见
答辩委员会负责人（签字）： 年 月 日
6-1
毕业设计（论文）答辩记录表
学生姓名
郑刚
专业班级
05机制本1
学号
0515011117
设计（论文）题目
冲床上下料机械手
答辩时间
答辩地点
答辩委员会名单
问题1
提问人：
问题：
回答（要点）：
问题2
提问人：
问题：
回答（要点）：
问题3
提问人：
问题：
回答（要点）：
记录人签名
（不足加附页）
6-2
问题4
提问人：
问题：
回答（要点）：
问题5
提问人：
问题：
回答（要点）：
问题6
提问人：
问题：
回答（要点）：
问题7
提问人：
问题：
回答（要点）：
问题8
提问人：
问题：
回答（要点）：
记录人签名
7
毕业设计（论文）成绩评定总表
学生姓名： 郑刚 专业班级： 05机制本1
毕业设计（论文）题目：冲床上下料机械手
成绩类别
成绩评定
Ⅰ指导教师评定成绩
Ⅱ评阅人评定成绩
Ⅲ答辩组评定成绩
总评成绩
Ⅰ×40%+Ⅱ×20%+Ⅲ×40%
评定等级
注：成绩评定由指导教师、评阅教师和答辩组分别给分(以百分记)，最后按“优(90--100)”、“良(80--89)”、“中(70--79)”、“及格(60--69)”、“不及格(60以下)”评定等级。其中，
指导教师评定成绩占40%，评阅人评定成绩占20%，答辩组评定成绩占40%。
外文资料
MECHANISMS AND MACHINE THEORY
1.Introduction to Mechanism：
The function of a mechanism is to transmit or transform motion from one rigid body to another as part of the action of a machine. There are three types of common mechanical devices that can be used as basic elements of a mechanism.
1、Gear system, in which toothed members in contact transmit motion between rotating shafts.
2、Cam system, where a uniform motion of an input member is converted into a nonuniform motion of the output member.
3、Plane and spatial linkages are also useful in creating mechanical motions for a point or rigid body.
A kinematic chain is a system of links, that is, rigid bodies , which are either jointed together or are in contact with one another in a manner that permits them to move relative to one another. If one of the links is fixed and the movement of any other link to a new position will cause each of the other links to move to definite predictable position, the system is a constrained kinematic chain. If one of the links is held fixed and the movement of any other link to a new position will not cause each of the other links to move to a definite predictable position then the system is an unconstrained kinematic chain,
A mechanism or linkage is a constrained kinematic chain, and is a mechanical device that has the purpose of transferring motion and/or force from a source to an output. A linkage consists of links (or bars), generally considered rigid, which are connected by joints, such as pin Cor revolute) or prismatic joints, to form open or closed chains (or loops). Such kinematic chains, with at least one link fixed, become mechanisms if at least two other links remain mobility, or structures if no mobility remains. In other words, a mechanism permits relative motion between its "rigid links"; a structure does not. Since linkages make simple mechanisms and can be designed to perform complex tasks, such as nonlinear motion and force transmission they will receive much attention in mechanism study.
Mechanisms are used in a great variety of machines and devices. The simplest closed-loop linkage is the four-bar linkage, which has three moving links (plus one fixed link) and four pin joints. The link that is connected to the power source or prime mover and has one moving pivot and one ground pivot is called the input link. The output link connects another moving pivot to another ground pivot. The coupler or floating link connected the two moving pivots, thereby "coupling" the input to the output link.
The four-bar linkage has some special configurations created by making one or more links infinite in length. The slider-crank (or crank and slider) mechanism is a four-bar chain with a slider replacing an infinitely long output link. The internal combustion engine is built based on this mechanism. Other forms of four-link mechanisms exist in which a slider is guided on a moving link rather than on a fixed link. These are called inversions of the slider-crank, produced when another link (the crank, coupler, or slider) is fixed link.
Although the four-bar linkage and slider-crank mechanism are very useful and found in thousands of applications, we can see that these linkages have limited performance level. Linkages with more members are often used in more demanding circumstances. However it is often difficult to visualize the movement of a multiloop linkage, especially when other components appear in the same diagram. The first step in the motion analyses of more complicated mechanisms is to sketch the equivalent kinematic or skeleton diagram. The skeleton diagram serves a purpose similar to that of the electrical schematic or circuit diagram .
Organization movement analysis second step: Draws a graphic chart, is must determine the organization the number of degrees of freedom. Based on degree of freedom, but Italy refers needs certain independent inputs the movement number, by determined organization all components are opposite in the ground position. The people have thousands of different types conceivably the link motion gear. You may imagine a bag containing massive link motion gear the component: Two pole groups, three pole groups, four pole groups and so on, as well as components, rotation, motion, cam follower, gear, tooth chain, chain wheel, leather belt, belt pulley and so on. (Sphere movement, screw vice-as well as the permission three dimensional relative motion other connections not yet includes, here, discusses in parallel planes merely plane motion). Moreover you conceivable put these components various types link motion gear possibility which forms in the same place. How exists helps the people to control forms these organizations the rule? In fact, the majority organization duty is requests a sole input to transmit to a sole output. Therefore the single degree of freedom organization uses most one kind of organization type. For example, namely may see by the intuition: Four pole organizations are a single degree of freedom link motion gear.
The picture motion diagram and the determination organization degree of freedom process, is the movement analysis and the synthesis process first stage. In the movement analysis, adds on its characteristic according to the organization geometry shape which possibly knew (for example input angle, speed, angle acceleration and so on) studies the determination concrete organization. On the other hand, the movement synthesis is designs an organization to complete the duty process which an institute requests. In this, chooses the new organization the type and the size is a movement synthesis part. Conceives the relative motion ability, can guess the reason that designs an organization the reason and makes the improvement to a concrete design ability is like this a successful organization scientist's symbol. Although these abilities come from the congenital creativity, however more is because has grasped the technology which enhances from the practice.
1.1The movement analysis：
simple one of most useful organizations is four pole organizations. In on following elaboration majority of content centralism discussion link motion gear, but this procedure is also suitable for the more complex link motion gear.
We already knew four pole organizations have a degree of freedom. About four pole organizations, has the useful more contents which must know? Indeed is some! These pull the Xiao husband criterion including the standard, the transformation concept, the blind spot position (divergence point), branch office, transmission angle, with theirs movement characteristic, including position, speed and acceleration.
Four pole organizations may have one kind of being called as crank rocker organization form, one kind of double rocking lever organization, one kind of double crank (tension bar) does the organization, which one form send in is called as the organization, is decided in two pole movement scopes which (fixed component) connects with the rack. The crank rocker organization input component, the crank may revolve through 360° and the continuous rotation, but outputs the component to make the undulation merely (i.e. swing member). As an exceptional case, in the parallel four pole organization, inputs the pole the length to be equal to outputs the pole the length, the go-between length and the fixed link (rack) length, also is equal. Its input and the output all may make the complete alternation rotation or transform the being called as antiparallel quadrangle organization the overlapping structure. The standard pulls the Xiao husband criterion (theorem) to indicate that,If in four pole organizations, between two poles can do willfully relatively rotates continuously, that, its longest pole length is smaller than sum of with the shortest pole length or is equal to sum of the other two pole length.
Should pay attention: The same four pole organization, may have the different form, which pole is this decided in was stipulated (i.e. makes fixed link) as the rack. The movement transformation process is in the fixed organization transmission chain different member has the different organization rate process. Besides has about the component rotation scope knowledge, but also must have how causes the organization before the manufacture on energy “the revolution” the good measure, that will be very useful. Hardenbergh (Hartenberg) speaks of: “The revolution” is terminology, its significance passes to outputs the component the movement validity. It meant the revolution is steady, in which can in output in the component to have a strength or the torque biggest force component is effective. Not only although the final output strength or the torque are the connecting rod geometric figure functions, moreover also is generally the power or the force of inertia result, that is frequently big to like static strength several times. In order to analyze the idling or in order to easy to obtain how can cause any organization “the revolution” the index, the transmission angle concept is extremely useful. In organization movement period, the transmission angle value is changing. The transmission angle 0° may occur in the special position. Will output the pole but in this special position the movement with not to exert inputs on the pole the strength many to have nothing to do with greatly. In fact, as a result of the movement vice-friction influence, the general basis practical experience, with the transmission angle planning board which is bigger than the rating. The weight link motion gear transmission movement ability matrix foundation definition already studied. A determining factor value (it includes regarding some assigns organization graph, position output movement variable to input variable derivative) is a this link motion gear in concrete position mobility criterion.
If the organization has a degree of freedom (e.g. four pole organizations), then stipulated a location parameter, if the input angle, completely determined this organization stops position (neglect branch office's possibility). We may study one about four pole organization component absolute angular position analysis expression. When analyzes certain positions and (or) certain different organization time, this will be must be much more useful than the geometric figure analysis program, because this expression will cause the automated computation easy to program. The realization organization speed analysis relative velocity law is the speed polygon is one of several effective methods. This end (goes against) the spot to represent on the organization all spots, has the zero speed. From this the line which stipples respectively to the speed polygon in is representing the absolute speed which this organization photograph well should select respectively. In a line connection speed polygon random two points represents is taking on this organization two corresponding spot relative velocity.
Other method is the instantaneous center law, namely the instantaneous center law, this method is extremely useful moreover is frequently when the complex link motion gear analysis quick method. The instantaneous center is a spot, this spot in that flash, on between the organization two components does not have the relative motion. In order to discover known organization certain instantaneous centers the position, Kennedy the (Kennedy) three center theories extremely are useful. It is said that,Each other relative motion three object three instantaneous centers are surely in a straight line.
The organization various components acceleration is makes one be interested, because it affects the force of inertia, subsequently affects the machine part the stress, the bearing load, the vibration and the noise. Because the final goal is the machine and the organization force of inertia analysis, the all acceleration various components all should the disposable picture - - in the organization fixed component inertial coordinate system express in the identical coordinate system.
Should pay attention: Is opposite in rotates on the vice-rotation rigid body an acceleration component usually to have two fixedly. A force component direction cuts in this path, its direction is same with this object angle acceleration direction, and is called the tangential acceleration. Its existence is completely because the angular speed rate of change causes.
Another component, always aims at the object the center of rotation, is called the standard the centripetal acceleration, because this component the velocity vector direction has the change to exist. The movement comprehensive
Ganization is forms many mechanisms the basic geometry structural units, these mechanisms including automatic packaging, printer, mechanical toy, textile machinery and other machineries and so on. The typical organization must design causes the movement which the rigid component relative datum component produces hoped. The organization movement design is the movement synthesis, first step frequently designs the entire machine first. When consideration stress, must ask dynamics aspect question, the bearing load, the stress, the lubrication and so on the similar question, but the major problem is the machine structure question..
The movement scientist defines the kinematics as “the development facility movement and the foundation organization method”. This definition first part involves the kinematic analysis. The known organization, its constitution state of motion determined by the kinematic analysis. The narration movement analysis duty contains the organization between the main dimension, the component links mutually with the input movement technical characteristic or the actuation method. The goal is must discover the displacement, the speed, the acceleration, the impact or the beat (two step accelerations), with various components higher order acceleration which possibly occurs as well as describes the diameter mark and the movement which realizes by certain components. The definition second part of available following two aspect explained ：
1. research produces with the aid of the organization assigns the movement the method.
2. research construction to be able to produce assigns the motion the method, but in two plans, the movement is assigns the organization is the foundation. This is the movement synthesis essence. Such movement synthesis involves to for assigns the performance the organization system design. The movement synthesis aspect may sum up as following two kinds:
1. types are comprehensive. The stipulation requests the performance, how is one kind of type organization appropriate? (Tooth gear train, link motion gear? Cam gear?)How many components but should the organization have? How many degrees of freedom needs? How outline structure is hoped? . About the member number and the degree of freedom consideration was usually considered is in the type synthesis is been called as for a quantity synthesis branch domain.
2. sizes are comprehensive. The movement synthesis second predominant type is the best method which determined through the goal law. The size synthesis attempts to determine the organization the important size and the starting position, this organization is conceives beforehand for the realization stipulation duty and the anticipated performance.
Of the so-called important size meanings are refer about two poles, three poles and so on between the length or the pole are away from, angle between number of articles and spool thread, cam contour size, cam follower diameter, eccentricity, gear quota and so on. Expected the organization type possibly is the crank slide organization, four pole organizations, the tape reel from the moving parts cam gear, but or is non-has some kind of structure shape more complex link motion gear because by the analysis situs method which the inferior analytic method determined. Is comprehensive regarding the movement, in the convention has three duties: Function production, path production and movement production..
Inputs and outputs the component in the function production organization the rotation or the migration must be the interdependence. Regarding arbitrary function y=f(x), a movement synthesis duty possibly is designs a link motion gear to cause the input and the output establishes the relations in order to cause in the xo
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