摘要:机械臂(manipulator)是广泛应用于工业生产中的精度较高的自动化机械，工业机械臂就是应用于工业生产中用来进行搬运、装配、上下料等工作，精度较高并且是自动化控制，生产效率极大大于手工作业。现今，新一轮的制造业即将崛起，无论是德国的工业4.0，还是我国在2015年李克强提出的未来中国发展的一个大政策--《中国制造2025》，都明确的指明了半个世纪甚至一个世纪都将是新一轮的制造业更新换代期，因此工业机械臂在生产中举足轻重的地位愈加凸显。机械臂同时涉及多个学科领域，逐渐成为一门含有多种综合的学科技术领域，比如机械学、控制学、计算机学、液压伺服系统等。在机械臂这个大家族中，工业机械臂是机械臂的一个重要分支，也是在机械臂所有类型中应用最为广泛的一个分支，特点就是可以通过计算机编程进行各种预期活动，是近代以来兴起的一项高科技机械生产设备。其重要的特点是同时具有人与机器的优点，尤其是在人的智能适应性方面，机械臂是具有不可比拟的优势。我国的机器人行业发展速度非常慢，科研水平也非常低，这主要是因为我国在这方面开始得太晚，并且我国开放晚、经济水平达不到要求，起不到支承引领的作用。但在未来半个世纪，制造业将会得到一个巨大地发展机会。在自主高新技术的研发、机器人产业化生产所需的关键核心技术等方面将会得到很大的发展，因此，我国机器人产业化的进程需要国家和社会甚至于每个人的努力。

此机械手是面向工业生产中的，因此又称为工业机器人，该机械手主要由三大系统构成，控制系统是对机械臂正常运行的控制；伺服电机是机械臂获得的动力源；减速器能保证从电动机到指定机械机构达到的较低转速。本文是对机械臂机械结构的设计计算，对控制系统没有进行太多的叙述。机械臂的驱动方式经过考虑，选用的是步进电机驱动。机械臂各个部分的主要的运动有六个：腰部的转动，大手臂的摆动，小手臂的摆动，手腕的摆动，手腕的转动，夹爪的夹取[1]。

关键词：机械臂六自由度步进电机同步带

Abstract: A manipulator with six degrees of freedom is designed in this paper. The mechanical arm (manipulator) is widely used in precision machinery automation in industrial production, industrial manipulator is used in industrial production for handling, assembling, loading and unloading work, high precision and automation control, the production efficiency is greatly larger than the manual operation. Today, a new round of manufacturing industry will soon rise, whether it is the German industrial 4, or China in a big policy -- "Chinese development 2015 Premier Li Keqiang proposed the future China manufacturing 2025", clearly pointed out half a century or even a century will be manufacturing a new round of updates so the industrial updating period, the manipulator plays an important role in the increasingly important role in the production of. At the same time, the mechanical arm is involved in many subjects, and has gradually become a comprehensive field of disciplines, such as mechanics, control, computer science, hydraulic servo system and so on. In the mechanical arm in this big family, industrial manipulator is an important branch of mechanical arm, but also in all types of mechanical arm used as a branch of wide, can be a variety of activities is expected through computer programming, is a high-tech machinery production equipment since the rise of the modern. Its important characteristic is that it has the advantages of man and machine, especially in the aspect of human intelligence adaptability, mechanical arm has incomparable advantages. China's robot industry development speed is very slow, the scientific research level is very low, this is mainly because our country in this respect too late to start, and the opening of China's late, economic level is not up to the requirements, not to support the leading role. But in the next half century, the manufacturing sector will have a huge opportunity to grow. In the independent high-tech R & D, industrial robot production required the key core technology will have great development, therefore, China's robot industry in the process of national and social needs and even the efforts of everyone.