摘 要本文設(shè)計的關(guān)節(jié)型機械手采用圓柱坐標式，能完成上料、翻轉(zhuǎn)等功能。此機械手主要由手爪、手腕、手臂和機身等部分組成，具有手腕回轉(zhuǎn)、手臂伸縮、手臂升降和手臂回轉(zhuǎn) 4 個自由度，能夠滿足一般的工業(yè)要求。該機械手由電位器定位，實行點位控制，控制系統(tǒng)采用 PLC 可編程控制，具有良好的通用性和靈活性。該機械手為液壓驅(qū)動，4 個自由度和手爪的夾緊都由液壓缸驅(qū)動，在油路的布置和規(guī)劃中結(jié)合機械制造的基礎(chǔ)，不斷使油路符合制造的可行性，而且將油路布置成空間結(jié)構(gòu)，使機械手的結(jié)構(gòu)更加簡潔和緊湊。關(guān)鍵字：關(guān)節(jié)型機械手 圓柱坐標 液壓缸 可編程控制AbstractIn this paper, the design of the joint-type robot using cylindrical coordinates of type, can be completed on the expected, inversion and other functions. Mainly by the manipulator hand, wrist, arm and body parts, etc., with rotating wrists, arms stretching, arm movements and arm rotation four degrees of freedom, able to meet the general requirements of the industry. The manipulator by the potentiometer position, the implementation of the control points, the control system using PLC programmable control, has a good generality and flexibility. The manipulator for the hydraulic-driven, four degrees of freedom and the clamping gripper driven by the hydraulic cylinder in the circuit layout and planning based on the combination of machinery manufacturing, and continuously so that the feasibility of manufacturing in line with the circuit, but also circuit layout into a spatial structure, so that the structure of manipulator more concise and compact. Keywords: joint-type robot cylindrical coordinates hydraulic cylinders PLC.