多功能小型六轴机械臂的设计与制作

Design and Manufacture of Multi-function Small Six-axis Manipulator

针对新型机器人应用场所多样化的需求,以工业机器人为灵感设计了一种小型六轴机械臂,应用于餐厅、医院等场景,在提升人们生活质量的同时降低用人成本以及劳动强度。所设计的机械臂动作灵活性高,工作空间范围大,具有定位精准、制造成本低、体积小的特点。利用SolidWorks对机械臂机座、机身、手臂以及执行末端机构进行三维整体建模,设计出了小型六轴机械臂的主体,通过Arduino实现对机械臂运动轨迹的控制。通过更换机械臂末端执行器的类型实现不同功能的转化,应用于不同场景。针对餐饮服务业设计了菜盘夹紧机构,实现了对不同类型以及尺寸菜盘的夹紧。通过3D打印技术完成机械臂部分结构的制作,实现了设计目的。

In view of the diversified needs of new robot application places,a small six-axis robot arm is designed inspired by industrial robots,which is applied in restaurants,hospitals and other scenarios,while improving the quality of people’s life and reducing the cost of employment and labor intensity.The designed robotic arm has high movement flexibility,large range of working space,and has the characteristics of accurate positioning,low manufacturing cost and small volume.By using SolidWorks,the three-dimensional overall modeling of the seat,fuselage,arm and terminal mechanism of the robotic arm,and the main body of the small six-axis robotic arm are designed,which controls the movement trajectory of the robotic arm through Arduino.The transformation of different functions by replacing the type of robotic arm is applied to different scenarios.For the catering service industry,the clamping mechanism is designed to realize the clamping of different types and sizes.Through 3D printing technology,the part of the mechanical arm structure is completed to achieve the design purpose.