摘要:在当今大规模制造业中，企业为提高生产效率，保障产品质量，普遍重视生产过程的自动化程度，工业机械手作为自动化生产线上的重要成员，逐渐被企业所认同并采用。工业机器人的技术水平和应用程度在一定程度上反映了一个国家工业自动化的水平。近二十年来，机器人技术发展非常迅速，各种用途的机器人在各个领域广泛获得应用。我国在机器人的研究和应用方面与工业化国家相比还有一定的差距，因此研究和设计各种用途的机器人特别是工业机械手、推广机械手的应用是有现实意义的。

　　　本文研究了国内外机械手发展的现状，通过学习机器人的工作原理，熟悉了搬运机械手的运动机理。在此基础上，根据生产要求，设计了一种小型的工业搬运机械手，确定了搬运机械手的基本系统结构，对搬运机械手的运动进行了简单的力学模型分析，完成了机械手机械方面的设计（包括传动部分、执行部分、驱动部分）和该机械手的控制系统设计。

关键词：搬运机械手；机械；自动化； 运动机理；控制系统

Abstract:In today's mass manufacturing, the enterprise to improve production efficiency and ensure product quality, universal attention production process automation degree, industrial robots as an important member of automatic production line, gradually by enterprise is approved and adopted. Industrial robot technology level and application degree to a certain extent reflects a country industrial automation level. In the past twenty years, the robot technology is developing very rapidly, and the various use robots in various fields can be used widely. Our country in the research and application of robots and industrialized countries, there is still a gap compared, therefore, the research and design of various use robots especially industrial robots, promote the application of the manipulator is is of practical significance.

　　　This paper studied the present situation of the development of domestic and foreign manipulator, learning through the working principle of the robot, familiar with the movement of the manipulator handling mechanism. On this basis, according to the production requirements, design a small industrial carrying manipulator, determine the basic system structure of the manipulator handling of carrying manipulator of the motion simple mechanical model analysis, the completion of the manipulator machinery design (including the transmission part, executive part, driving part) and the system of control system design.

Keywords: carrying manipulator; Machinery; Automation; Movement mechanism; Control system